This paper focuses on the study of the tightly-coupled inductive power transfer technology for the charging of automatic guided vehicles. It shows that there are a significant amount of high-order harmonic currents in the system due to the square-wave input voltage and the high coupling coefficient. The harmonics would induce extra power loss and reduce the system efficiency. This paper proposes to utilize the double-sided LCC compensation circuit to realize the wireless charging system, in which the inductors and capacitors work as the low-pass filters to reduce the harmonics. Besides, the compensation inductors are integrated into the main coil to save space, resulting in a compact coupler structure. The circuit working principle and the finite element (FEM) analysis of the magnetic coupler are provided in this paper to show the design process. In addition, a 1.8 kW prototype is implemented with a size of 220mm×220mm×10mm magnetic coupler. In a low-voltage and high-current application, the dc-dc efficiency reaches 86.1% in the 24V/74A output condition, and the total harmonic distortion is limited within 10% when the airgap is 15mm.