## 4 Results and Discussion
\begin{table}
\begin{tabular}{l l l l l} \hline \hline
**Converter** & **K\({}_{\mathbf{I_{4}}_{\mathbf{I_{1}}}}\)** & **L\({}_{\mathbf{i}}\) (H)** & **C\({}_{\mathbf{i}}\) (F)** & **R\({}_{\mathbf{i}}\) (f)** \\ \hline First motor (i = 1) & 30.646195458 & 2.5144095579 \(\times\) 10\({}^{-5}\) & 1.9095902447 \(\times\) 10\({}^{-5}\) & 59.639317735 \\ Second motor (i = 2) & 22.747017789 & 4.9990133202 \(\times\) 10\({}^{-5}\) & 6.6347926426 \(\times\) 10\({}^{-6}\) & 95.972231156 \\ Third motor (i = 3) & 36.411406444 & 2.4350565864 \(\times\) 10\({}^{-5}\) & 3.1518011115 \(\times\) 10\({}^{-6}\) & 80.998134743 \\ Fourth motor (i = 4) & 44.0617226666 & 8.2933376471 \(\times\) 10\({}^{-5}\) & 6.2723523176 \(\times\) 10\({}^{-6}\) & 95.372351267 \\ \hline \hline \end{tabular}
\end{table} 
Table 8: The values of optimized parameters of the I controllers and DC/DC converters by Optimizer-2. Figure 7: (**a**) The reference path for determining the optimal parameters and tracking performance with these parameters. (**b**) Testing the tracking performance of the same parameters with another path. Similarly, the optimal parameters of the converters, which are determined by Optimizer-2, are given in Table 8. At this stage, four parameters are optimized for each DC/DC buck converter. The inductance, capacitance and resistance values and integral value of each converter were optimized in line with the objectives of voltage control with minimum error and keeping the energy drawn from the fuel cell as low as possible. When the tracking performance obtained with these optimal values is examined, it is seen that a very successful trajectory tracking performance is obtained according to the results in Figure 7a. It is observed that the AGV moves with a very low error for both translational and rotational motion. In order to evaluate this successful effect of these determined parameters on trajectory tracking performance for different trajectories, the reference trajectory in Figure 7b was applied to the AGV. As can be seen, the trajectory tracking performance of the AGV has little error for this route, which includes more sharp turns than the trajectory for which the optimal parameters are determined. Thus, it can be concluded that the determined controller and DC/DC converter parameters cause successful tracking performance and can be reliably used in performance and power consumption analysis for another reference route. After that, the spiral path was applied to the designed AGV system, and the tracking performance of the AGV is shown in Figure 8. The results show that the vehicle has sufficient and successful path-tracking performance for this route. In this route, the AGV performed both the rotational motion at different angles and the linear propagation motion in both the x and y directions with little error. This shows that the electronic design and control strategies developed for an application with this route, as in the previous routes, yield successful results. In order to better analyze the effect of optimally determined parameters on the route-tracking performance, the errors of the instantaneous x, y and beta values during the movement can also be examined relative to the reference trajectory. Figure 9 shows the time variation of the x- and y-directed displacement and velocity errors and rotation error during this motion. As can be seen from the results, the movement was completed with a small error in both translational and rotational terms. This can be considered as successful and sufficient for the AGV system used in the industry and moving between two targets. When the x and y direction translation errors along the motion shown in Figure 9a are examined, it can be seen that there is an average error of 0.0061 m in the x direction and 0.0572 m in the y direction along the entire spiral route. It can be observed from the figure that the error in the x direction is around 0.09 m maximum, and the error in the y direction is around 0.15 m maximum. Figure 8: The path-tracking performance of AGV for spiral path.