High-efficiency wireless power transfer (WPT) systems can present a perfect solution for fast-charging autonomous guided vehicles (AGV) to improve working hours in high-tech warehouses. Stationary charging stations reduce separation distance, improving coupling factor and power transfer efficiency. Analysis and design of the WPT system focused on maximum power at the load with a SS compensation circuit to reach high efficiency while applying the theory of power transformers design to maximize the power handleability with the physical dimensions. The proposed concept fits small AGVs. This paper proposes a unique ferrite structure for the transmitter ferromagnetic core. This novel shape introduces horizontal angular misalignment resistance due to the transmitter’s omnidirectional concave disc ferrite core combined with an E-core ferrite at the receiver side. The proposed WPT system can output 200 W at 100 kHz. A realistic 3D model has been designed into a symmetrical equivalent to reducing complexity and computational effort. The visualization of the magnetic flux distribution demonstrated that the proposed design has a better path to flow without concentrating flux in small regions, reducing heating losses.