## 4 Conclusions  
Based on the conducted studies, the following conclusions were formulated:  
* The use of camera-based control allows for a reduction in transit time and lower energy consumption by the vehicle compared to a vehicle equipped with reflective optocouplers.
* The use of reflective optocouplers was associated with a greater dynamics of changes in the power values of the drive motors.
* The placement of the sensors affects operational parameters, such as energy consumption and transit time. These values were lower when using the camera for SDc = 350 mm, while for reflective optocouplers, lower values were achieved for SDt = 250 mm.
* The smaller dynamics of changes in the vehicle's direction of motion (smaller transverse oscillations) when using the camera resulted in lower energy consumption.  
The tested vehicle, equipped with reflective optocouplers, was previously tested under lighting conditions with varying intensities. Due to the anticipated potential impact of LED lighting (infrared light) on the photodetectors of the reflective optocouplers, lamps with this type of light source were used. The high-power lamps allowed for adjustments in light intensity and illuminated the path along which the vehicle moved. Preliminary tests showed that the light intensity from the LED lamps did not significantly affect the vehicle's navigation capabilities when using the reflective optocouplers.  
In the case of navigation using a camera, a significant influence of the room's lighting on the ability to determine the direction vector was observed. The camera is equipped with its own light source that illuminates its \"field of view\". If this light source is not used, it is necessary to adjust the \"Camera brightness\" depending on the ambient lighting. The camera software used in the tests was not equipped with a function for automatic brightness adjustment based on the intensity of external lighting.  
However, by using the built-in camera lighting, it is possible to adjust the settings as shown in Table 1, ensuring correct path detection under drastically different room lighting conditions.  
Future work includes the development of a lighting adjustment system that adapts to environmental conditions due to the \"blinding effect\" on the camera when the surface reflects light well. It is also planned to support vehicle navigation using codes placed along the vehicle's route, which can be detected by the camera.  
The conducted research indicates a clear difference in the operational parameters of the AGV depending on the optical navigation method used. The results can be applied when selecting the control method for an AGV, particularly with regard to energy consumption. For AGVs using optical reflective optocouplers, replacing them with camera-based navigation systems may result in reduced energy consumption and improved control of vehicle movement. These findings may also aid in optimizing AGV control algorithms and serve as a foundation for further research in this area.  
Conceptualization, M.J., A.J., H.K. and K.B.; methodology, M.J. and K.B.; software, K.B.; validation, M.J., A.J., H.K. and K.B.; formal analysis, M.J., A.J., H.K. and K.B.; investigation, M.J. and K.B.; resources, M.J., A.J., H.K. and K.B.; data curation, K.B.; writing--original draft preparation, M.J., A.J., H.K. and K.B.; writing--review and editing, M.J., A.J., H.K. and K.B.; visualization, K.B.; supervision, K.B. All authors have read and agreed to the published version of the manuscript.  
This research received no external funding.  
Not applicable.  
The original contributions presented in the study are included in the article, further inquiries can be directed to the corresponding author.  
The authors wish to acknowledge the Polish Ministry of Education and Science and the Rzeszow University of Technology for supporting this research.  
The authors declare no conflicts of interest.