In this thesis we will walk you through the design choices we made in designing a battery management system (BMS) for the Zebro robot. This specific BMS is designed as a subcomponent of an autonomous charging system. The main goal of this BMS is to safely charge and discharge the systems battery, while providing the system with relevant data on the battery status. The BMS consists of multiple subsystems, the most important being a charger, a cell balancer, a power management system and a main control unit tying it all togheter.