Sensor systems are very important in all kinds of robotics. In this article we describe physical principles of typical sensors, which can be used for small mobile robot. These sensors are compass, accelerometer, ultrasonic distance sensor and odometry. Each of the sensors has its own communication protocol, so there was created electrical module, which transforms each sensor's communication to one type. USART and I2C bus are used for communication with master module. This module also allows

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... ng parallel measurements of the sensors, which allow shorter sampling period, than serial one. After the creation of this module, there were measured errors of each sensor and evaluated by STN EN 60 770 standard.