This paper presents a high-efficiency wireless power transfer platform with automatic tracking of a free-moving charging target. A straightforward, MATLAB-based coil geometry design procedure is proposed for a 3-coil link configuration. Also, a dynamically tracking method combining image-based target recognition using YOLO4 and automatic Tx tracking using an Arduino-controlled motor has been proven feasible to establish an easily scalable ICPT system. For further development, the tracking platform can get rid of the restrictions of the rails by designing robust free-moving intelligent robotic carriers for the Tx.