A reconfigurable half-bridge compensation topology is proposed in this brief for automatic guided vehicles (AGV) wireless charging system. Considering the cost and reliability, a simple and reconfigurable structure without extra passive element and additional relay is developed, the reconfigurable topology could realize the shift from inductor-capacitor-capacitor-inductor-capacitor-capacitor (LCC-LCC) topology to series-inductor-capacitor-capacitor (S-LCC) topology, and further achieve load-independent constant current (CC) and constant voltage (CV) outputs, full design freedom for current and voltage gain. Accompanying with a special switching strategy of mode transition, the proposed reconfigurable circuit could realize smooth cutting off of inductor current without spike across switch. Moreover, module of zero-current could be saved in the proposed topology. The proposed circuit has less switches and could achieve zero phase angle (ZPA) operating and zero voltage switching (ZVS) in the whole charging process, which allows the lower cost and power losses. An experimental prototype is established to validate the feasibility of the reconfigurable half-bridge compensation topology and switching strategy.