Dynamically charged vehicles suffer from power-loss during wireless power transfer due to vehicle coil misalignment while driving. Autonomous dynamically charged vehicles can maximize wireless power transfer by following an optimal charging path, but the repeated precision increases road wear. To avoid unnecessary road wear and rutting, a path planner can intentionally inject variability into an autonomous vehicle’s path. However, introducing variability into an optimal charging path risks depleting battery life prior to destination arrival, and it increases rider discomfort. Therefore, a path planner is proposed that guarantees average charging criteria and ensures rider comfort while reducing road wear.