The present invention relates to wireless high power transfer under regulatory constraints. The present invention provides an improved battery-charging system for a vehicle. Primary and secondary coils are located in places where the vehicle can receive power from the primary coil by pulling into a parking space, for example. The parking space may have a coil embedded in the ground, or may have an array of coils embedded in the ground. A guidance system is disclosed. Fine positioning is also disclosed. The secondary coil in the vehicle can also be raised or lowered to improve coupling.