## 4 Results and Discussion
The voltage-tracking performance of these converters, the energy efficiency and tracking performance of which are adjusted  
Figure 10: The comparison of reference and actual angular velocities (blue line: reference angular velocity, red line: actual angular velocity and black line: error between reference and actual velocity): (**a**) Mecanum wheel-1, (**b**) Mecanum wheel-2, (**c**) Mecanum wheel-3, (**d**) Mecanum wheel-4. with the optimal parameters determined by Optimizer-2, is given in Figure 11 for the first and second motors. When the voltage-tracking performance given for the first motor in Figure 11a is examined, it is seen that a successful voltage tracking is obtained, and an error such as 0.3082 V appears as an average error. Similarly, in the voltage-tracking performance of the second DC/DC buck converter given in Figure 11b, the error between the reference control input voltage for the second motor and the voltage sent to the motor at the inverter output is calculated as 0.7385 V on average. For the third and fourth DC/DC converters, for which graphs of change over time are not given here, the errors between the reference and actual output voltages are calculated as 1.5624 and 0.6042 V, respectively. As seen in these error values, it was determined that the optimization-based controller designed for DC/DC converters provides a successful voltage-tracking performance. In addition, the aim was to minimize the power drawn from the fuel cell as much as possible in the design study and develop intelligent control strategies for DC/DC converters. Minimization of power consumption has been included in the process based on the entire optimization algorithm and has been designed in terms of energy, cost and time savings as well as improved route-tracking performance. In this direction, the voltage and current fed to the system by the fuel cell were analyzed during the test for the spiral route. Figure 12a shows the variations of the fuel cell's supply voltage and consumed power as a function of the fuel cell's current. In accordance with the characteristics of the fuel cell, when the current drawn from the fuel cell increases, the supply voltage decreases, and the power drawn from the fuel cell increases. During the spiral routing motion, it is generally operated at lower currents depending on the choice of 24 V DC motors and AGV characteristics (weight, wheel, etc.). In addition, it is very important for energy efficiency to work at low current and low power in accordance with the goal of reducing power  
Figure 11: The comparison of the voltage-tracking performance of DC/DC converters (**a**) The reference and output voltage comparison for DC/DC converter 1. (**b**) The reference and output voltage comparison for DC/DC converter 2.  
consumption for all parameters determined by optimization algorithms. In Figure 12a, it is also observed that the data collected from the fuel cell are concentrated on the left side of the graph. According to the results obtained, the average voltage fed to the AGV system by the fuel cell throughout the process was calculated as 43.38 V. Similarly, the average current was observed as 1.4625 A. From the power-current graph, it can be seen that a maximum power consumption of 800 W is realized throughout the movement. The variation of power consumption according to the obtained optimal parameters of the AGV moving along the spiral route as a function of time is shown in Figure 12b. According to these results, the average power consumption on the fuel cell side during the movement is 58.2675 W. This shows that the design objectives of low power consumption and maximum tracking performance criteria were successfully met. In addition to all these analyses, the consumption of the fuel and air by the PEMFC during the movement was also examined. Figure 13a shows the variations in fuel and air consumption by the fuel cell as a function \(\mathrm{P_{cell}}\) while following the spiral route. As seen in the figure, air consumption is higher than fuel consumption.