This paper describes a mathematical method for obstacle coordinates transformation from a Technical Vision System (TVS) Body-Frame to an Automated Guided Vehicle (AGV) Navigation-Frame. The method is for AGVs equipped with a TVS to scan the scene in front of its travel direction in order to detect the presence of objects and measure their coordinates in the Navigation-Frame to avoid them. The proposed coordinate's transformation method is based on a AGVs kinematic model that includes the calculation of the AGVs load variation influence by the change of the center of gravity of the AGV traveling in an ideal floor conditions.