In　wireless　power　transfer　systems　for　electric　vehicles,　coil　misalignment　is　inevitable　in　most　charging　situations.　Most　present　studies　concentrate　on　the　misalignment　tolerance　in　one　direction,　either　in　the　X,　Y,　Z,　or　diagonal　directions,　but　lack　the　misalignment　tolerance　on　the　whole　charging　plane.　In　this　article,　a　reconfigurable　adaptive　topology　and　centrosymmetric　coils　are　proposed　to　achieve　misalignment　tolerance　over　the　whole　charging　plane.　By　switching　among　three　operation　modes　of　the　proposed　reconfigurable　topology　at　the　different　misaligned　regions,　the　output　voltage　at　the　boundary　regions　can　be　increased　and　the　output　voltage　fluctuation　can　be　limited.　First,　the　mathematical　model　of　the　proposed　reconfigurable　adaptive　topology　in　the　different　operation　modes　is　investigated.　Second,　the　design　process　of　the　magnetic　coupler　and　the　characteristics　of　the　centrosymmetric　coils　are　presented.　Finally,　a　926-W　prototype　is　built　to　verify　the　proposed　system.　The　experimental　results　demonstrate　that　the　fluctuation　of　the　output　voltage　is　less　than　21.3%　apart　from　the　four　most　corner　regions,　and　the　peak　efficiency　is　84.5%.