This paper presents a hybrid configuration combining a hydrogen fuel cell and ultracapacitors to create an energy storage system. Hybrid topology is constructed using a SEPIC converter, which connects the fuel cell with the DC bus whereas a bidirectional Buck-Boost converter links the ultracapacitors group with the DC bus. The main aim is to increase the efficiency of the hybrid power system applied about an autonomous mobile robot. An active Fuel Cell voltage control strategy is presented to manage the power flows. In addition, the overall efficiency of the proposed hybrid power system at overload operation is higher than the conventional one. In this paper, an autonomous mobile robot was converted from a conventional lead-acid or lithium-ion battery to a hybrid PEM Fuel-Cell and ultracapacitors as the power source. The integration of UCaps as element of energy storage on the robot was studied with the aim to improve the energetic solution.