## 1 Introduction
Autonomization is of great importance for both human health and work efficiency in vehicles such as AGVs and forklifts operating in closed environments such as factories. It is very critical in terms of efficiency that the tasks are carried out promptly, with reduced cost, long working performance and with few mistakes. For this reason, while autonomous vehicles such as AGVs provide route-tracking performance and high performance, minimum power consumption requirements arise. For this purpose, control algorithms that increase route-tracking performance have been developed in the studies examined, and attempts have been made to increase energy efficiency by driving different alternative energy sources with maximum power tracking algorithms. In this study, route-tracking performance and power consumption of a fuel-cell-powered AGV system with four mechanical wheels were investigated with PSO-based PID controllers. The studies in the literature have been extended with the development of PSO-based controllers to provide maximum performance route tracking of a fuel-cell-powered four-wheeled AGV with minimum power consumption. In addition, R, L and C values for DC/DC converters were determined by PSO-based optimization in order to obtain maximum voltage-tracking performance and minimum power consumption. The contributions of this paper are as follows:  
* The full FCAGV system was modeled by combining the mathematical models of a four-Mecanum-wheeled AGV, a PEM fuel cell system, DC/DC buck converters and the motors of the AGV. * A PSO-based PID controller was developed to obtain maximum route-tracking performance of AGV with reduced power consumption (Optimizer-1). * A PSO-based I controller was developed to obtain maximum voltage-tracking performance with reduced power consumption for DC/DC converters (Optimizer-2). * The values of resistance, inductance and capacitance of DC/DC converters were optimized by using the PSO algorithm for voltage-tracking/power-consumption optimization (Optimizer-2). [PERSON] and [PERSON]'s model in [12], which is one of the most comprehensive four-wheeled AGV models in the literature, was used and extended in this study by adding mathematical models of the DC motor, DC/DC buck converter and PEM fuel cell. In order to perform analysis including all system equipment, a model of the whole system was created. With the help of this model, the voltage and power required to be fed by the fuel cell were determined in order for the AGV to have the desired positions in the x and y axes and the rotation around the z axis according to the general coordinate system. During the movement, each motor is controlled separately, and their overall power requirement changes throughout the movement. In order to achieve maximum route-tracking performance with minimum power consumption, the coefficients of PID controls designed for each engine and both integral (I) control coefficients and resistance, capacitor and coil values of DC/DC converters, which ensure that the consumed power from the fuel cell is reduced to the desired level before reaching the engines, were obtained using the PSO algorithm. System parameters such as power consumption, route-tracking performance, the power consumed by the engines and the hydrogen and air supply of the fuel cell were examined for the different routes determined by the simulations made in line with the obtained values. The results show that the designed optimized intelligent controllers and DC/DC converters have sufficient voltage/route-tracking performance with reduced power consumption. The mathematical models of each part of the full FCAGV system are described in Section 2. In Section 3, the developed PSO-based PID and I control strategies are considered, and the algorithms of PSO-based optimizers are described in this section. The optimized parameters for controllers and the obtained performance results for different paths test are given in Section 4. Finally, the key results, importance of these results and future work are outlined in Section 5.