Dynamically charged vehicles suffer from power loss during wireless power transfer due to receiver and transmitter coil misalignment while driving. Autonomous, dynamically charged vehicles can maximize wireless power transfer by minimizing the misalignment, but the repeated high-precision driving increases road wear. To avoid unnecessary road wear and rutting, a noise shaping filter is proposed that adds variability to a vehicle\u27s trajectory that complies with passenger acceleration and position constraints. However, introducing variability into an optimal charging path also risks depleting battery life prior to destination arrival. Therefore, a path planner is proposed that guarantees average charge within a specified probability and ensures rider comfort while reducing road wear
