## 5 Conclusions  
The use of alternative energy sources in the industry has increased in recent years, and AGV systems used in industry are also becoming compatible with alternative energy sources due to their cost, environmental and time advantages. In this study, the optimized design and modeling and a development control strategy to ensure maximum route-tracking performance with reduced power consumption are emphasized for an AGV system with a PEMFC, which is an alternative energy source that supports the concept of energy independence. After modeling the full FCAGV system with its subsystem, such as DC/DC converters, motors, AGV and fuel cells, the PSO-based controllers and converters were designed, and optimal values of the coefficients of controllers and values of the components of each converters were determined in order to achieve more successful trajectory tracking performance with reduced power consumption. These optimal parameters were obtained by analyzing with different trajectories, and tests were conducted to analyze the performance of the AGV with these parameters. The results show that the AGV has successful path-tracking and lower power-consumption performance for the given reference spiral path. The observed path-tracking errors of FCAGV were less than 6 cm and 0.03 rad for all translational and rotational motions, respectively. These data show that the designed FCAGV system has sufficient path-tracking performance for both translational and rotational motions. The average voltage-tracking error for all converters  
Figure 13: (**a**) The variation of the fuel and air consumption of the PEM fuel cell as a function of consumed power from the fuel cell during the spiral route tracking of AGV. (**b**) The variations in fuel and air consumption of the PEM fuel cell as a function of time.  
is approximately 0.75 V, and this shows that the DC/DC converters have successful and sufficient voltage-tracking performance with few errors. Power consumption is another important factor for the optimization process, and the average power consumption of the fuel cell is observed approximately 58.2675 W during 10-second movements. This shows the energy efficient performance of the designed FCAGV with the developed optimized control strategies. Based on these results, it is seen that the hydrogen-fueled AGV designed with the developed controllers is suitable for longer periods of operation with high energy efficiency and high route-tracking performance in areas such as factories and warehouses. In the future studies, these simulation results can be proved with experimental tests of the FCAGV system, and the different optimization algorithms can be used for the optimizers and comparison of the performance of these algorithms.  
Conceptualization, M.H.D.; methodology, M.H.D. and M.D.; software, M.H.D.; investigation, M.H.D. and M.D.; writing--original draft preparation, M.H.D. and M.D.; writing--review and editing, M.H.D.; visualization, M.H.D. and M.D.; supervision, M.H.D. All authors have read and agreed to the published version of the manuscript.  
This research received no external funding.  
Data Availability Statement: Data sharing not applicable.  
The authors declare no conflict of interest.