## 1 Introduction
These include model predictive control [25], a kinematic nonlinear controller based on Lyapunov stability [26], fuzzy reasoning [27], a backstepping-method-based controller [28] and an output-constraint control strategy (hyperbolic method) [29]. There are many studies in the literature on orbital control of AGVs. This technique can be applied to AGVs in all orbital controllers applied to mobile robots. Control and motion planning studies in this area were collected by [PERSON] et al. [30] and [PERSON] et al. [31]. Readers can refer to these studies for more information. AGVs have power systems that store energy and convert it into mechanical rotational or translational energy at the desired rate to enable mobile operation. These power systems include the element that provides energy and the motors that take energy from this element and convert it into mechanical energy. The use of energy is an important criterion to increase the efficiency of use of the mobile robot. The ability of robots to perform given tasks for a long time without stopping depends on the efficient use of energy in the robot. For this purpose, the selection of the energy source and the correct management of the energy are of great importance. There are studies on the energy consumption of AGVs, which are expected to work independently from the energy source as much as possible and to be able to do this for as long as possible, according to the route, the load carried and the route-tracking performance [32; 33; 34; 35]. Batteries are generally used as an energy source in AGVs. The literature includes studies on energy management for AGVs using batteries, AGV battery life cycle management [36], AGV battery management for Industry 4.0 applications [37], analysis of battery management using system dynamics [38], energy consumption and, accordingly, the development of a charging strategy [39; 40]. However, as can be seen from these studies, AGVs with batteries need frequent battery replacement or charging according to their duties. This causes loss of time during the task and a decrease in work efficiency. For this purpose, the use of hydrogen fuel cells with higher energy density in mobile robots has increased as an energy source. Hydrogen fuel cells are an incredibly versatile technology with a wide variety of applications and are used in the material handling industry, with more than 25,000 hydrogen fuel cell forklifts used in warehouses, stores and manufacturing facilities across the USA. Fuel cells, which are highly preferred in vehicles and mobile robots due to their advantages such as energy efficiency, positive impact on the environment, low noise and size, have disadvantages such as expensive production and difficulties in the production and storage of hydrogen used as fuel. [PERSON] et al. [41] investigated the prolongation of the battery operating time for mobile robot by adding a microtubular SOFC generator. [PERSON] et al. [42] designed a hybrid energy system for small mobile non-automotive devices, and the effects of the combination of energy system components on the energy efficiency were investigated. [PERSON] et al. [43] studied energy and performance optimization by applying a cloud-model-based fuel cell hybrid energy system to a mobile robot used for welding, and the performance of an AGV power supply system with a polymer electrolyte membrane fuel cell stack (PEMFC) was assessed by [PERSON] et al. [44] to minimize vehicle downtime. As can be seen, the number of studies on the use of hydrogen fuel cells for mobile robots has increased in recent years, while there are few studies in which fuel cells are used as an energy source in heavy load systems such as AGVs. As can be seen from the articles reviewed, systems where alternative energy sources are used for energy come to the fore, considering the depletion of fossil fuel resources and the damage they cause to the environment.