The　traditional　method　for　achieving　misalignment　tolerance　using　two　detuned　circuits　depends　on　output　sampling　and　communication　between　the　primary　and　secondary　sides.　This　article　proposes　a　self-adaptive　dual-channel　detuned　compensation　topology　to　achieve　a　stable　output　for　wireless　charging　of　autonomous　underwater　vehicles　(AUVs).　In　the　low　coupling　coefficient　interval,　power　is　transferred　through　both　channels;　in　the　high　coupling　coefficient　interval,　power　is　transferred　through　only　one　channel.　The　mode　switching　process　occurs　naturally　without　additional　switches　or　control.　Two　sets　of　arc-shaped　coils　are　employed　as　the　two　channels,　forming　dual　arc-shaped　coil　sets,　without　cross-coupling　between　them.　Due　to　the　symmetrical　magnetic　couplers,　the　mutual　inductances　of　the　two　channels　respond　similarly　to　both　rotational　and　axial　misalignment.　A　1.6-kW　experimental　prototype　for　the　AUV　wireless　charging　is　built　to　validate　the　feasibility　of　the　proposal.　The　output　voltage　fluctuation　of　the　system　is　8%　within　the　coupling　coefficient　interval　of　[0.2,　0.6].　The　system　can　still　maintain　over　89%　transmission　efficiency　in　the　worst　case.