diff --git a/Cs_HMI/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.cs b/Cs_HMI/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.cs
index c7f3c88..ca8c67e 100644
--- a/Cs_HMI/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.cs
+++ b/Cs_HMI/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.cs
@@ -144,10 +144,6 @@ namespace AGVNavigationCore.Controls
         public event EventHandler<(MapNode From, MapNode To)> ConnectionDeleted;
         public event EventHandler MapChanged;
 
-        // AGV 이벤트
-        public event EventHandler<IAGV> AGVSelected;
-        public event EventHandler<IAGV> AGVStateChanged;
-
         #endregion
 
         #region Properties
diff --git a/Cs_HMI/AGVLogic/AGVNavigationCore/Models/VirtualAGV.cs b/Cs_HMI/AGVLogic/AGVNavigationCore/Models/VirtualAGV.cs
index 28ab682..47ca282 100644
--- a/Cs_HMI/AGVLogic/AGVNavigationCore/Models/VirtualAGV.cs
+++ b/Cs_HMI/AGVLogic/AGVNavigationCore/Models/VirtualAGV.cs
@@ -50,8 +50,6 @@ namespace AGVNavigationCore.Models
         private string _agvId;
         private Point _currentPosition;
         private Point _prevPosition;
-        private string _targetId;
-        private string _currentId;
         private AgvDirection _currentDirection;
         private AgvDirection _prevDirection;
         private AGVState _currentState;
@@ -75,7 +73,6 @@ namespace AGVNavigationCore.Models
 
         // 시뮬레이션 설정
         private readonly float _moveSpeed = 50.0f;     // 픽셀/초
-        private readonly float _rotationSpeed = 90.0f; // 도/초
         private bool _isMoving;
 
         #endregion
diff --git a/Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Planning/AGVPathfinder.cs b/Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Planning/AGVPathfinder.cs
index 80b6de6..201ae08 100644
--- a/Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Planning/AGVPathfinder.cs
+++ b/Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Planning/AGVPathfinder.cs
@@ -261,169 +261,5 @@ namespace AGVNavigationCore.PathFinding.Planning
         }
 
 
-
-        /// <summary>
-        /// 기본 경로를 상세 경로로 변환
-        /// </summary>
-        private List<NodeMotorInfo> ConvertToDetailedPath(List<string> simplePath, AgvDirection initialDirection)
-        {
-            var detailedPath = new List<NodeMotorInfo>();
-            var currentDirection = initialDirection;
-
-            for (int i = 0; i < simplePath.Count; i++)
-            {
-                string currentNodeId = simplePath[i];
-                string nextNodeId = (i + 1 < simplePath.Count) ? simplePath[i + 1] : null;
-
-                // 마그넷 방향 계산
-                MagnetDirection magnetDirection = MagnetDirection.Straight;
-                if (i > 0 && nextNodeId != null)
-                {
-                    string prevNodeId = simplePath[i - 1];
-                    magnetDirection = _junctionAnalyzer.GetRequiredMagnetDirection(prevNodeId, currentNodeId, nextNodeId, currentDirection);
-                }
-
-                // 노드 정보 생성
-                var nodeMotorInfo = new NodeMotorInfo(
-                    currentNodeId,
-                    currentDirection,
-                    nextNodeId,
-                    magnetDirection
-                );
-
-                // 회전 가능 노드 설정
-                var mapNode = _mapNodes.FirstOrDefault(n => n.NodeId == currentNodeId);
-                if (mapNode != null)
-                {
-                    nodeMotorInfo.CanRotate = mapNode.CanRotate;
-                }
-
-                detailedPath.Add(nodeMotorInfo);
-            }
-
-            return detailedPath;
-        }
-
-
-        /// <summary>
-        /// 경로 총 거리 계산
-        /// </summary>
-        private float CalculatePathDistance(List<NodeMotorInfo> detailedPath)
-        {
-            float totalDistance = 0;
-
-            for (int i = 0; i < detailedPath.Count - 1; i++)
-            {
-                var currentNode = _mapNodes.FirstOrDefault(n => n.NodeId == detailedPath[i].NodeId);
-                var nextNode = _mapNodes.FirstOrDefault(n => n.NodeId == detailedPath[i + 1].NodeId);
-
-                if (currentNode != null && nextNode != null)
-                {
-                    float dx = nextNode.Position.X - currentNode.Position.X;
-                    float dy = nextNode.Position.Y - currentNode.Position.Y;
-                    totalDistance += (float)Math.Sqrt(dx * dx + dy * dy);
-                }
-            }
-
-            return totalDistance;
-        }
-
-        /// <summary>
-        /// 경로 유효성 검증
-        /// </summary>
-        public bool ValidatePath(List<NodeMotorInfo> detailedPath)
-        {
-            if (detailedPath == null || detailedPath.Count == 0)
-                return false;
-
-            // 1. 모든 노드가 존재하는지 확인
-            foreach (var nodeInfo in detailedPath)
-            {
-                if (!_mapNodes.Any(n => n.NodeId == nodeInfo.NodeId))
-                    return false;
-            }
-
-            // 2. 연결성 확인
-            for (int i = 0; i < detailedPath.Count - 1; i++)
-            {
-                string currentId = detailedPath[i].NodeId;
-                string nextId = detailedPath[i + 1].NodeId;
-
-                if (!_basicPathfinder.AreNodesConnected(currentId, nextId))
-                    return false;
-            }
-
-            // 3. 물리적 제약사항 확인
-            return ValidatePhysicalConstraints(detailedPath);
-        }
-
-        /// <summary>
-        /// 물리적 제약사항 검증
-        /// </summary>
-        private bool ValidatePhysicalConstraints(List<NodeMotorInfo> detailedPath)
-        {
-            for (int i = 1; i < detailedPath.Count; i++)
-            {
-                var prevNode = detailedPath[i - 1];
-                var currentNode = detailedPath[i];
-
-                // 급작스러운 방향 전환 검증
-                if (prevNode.MotorDirection != currentNode.MotorDirection)
-                {
-                    // 방향 전환은 반드시 회전 가능 노드에서만
-                    if (!currentNode.CanRotate && !currentNode.IsDirectionChangePoint)
-                    {
-                        return false;
-                    }
-                }
-            }
-
-            return true;
-        }
-
-        /// <summary>
-        /// 경로 최적화
-        /// </summary>
-        public AGVPathResult OptimizePath(AGVPathResult originalResult)
-        {
-            if (!originalResult.Success)
-                return originalResult;
-
-            // TODO: 경로 최적화 로직 구현
-            // - 불필요한 중간 노드 제거
-            // - 마그넷 방향 최적화
-            // - 방향 전환 최소화
-
-            return originalResult;
-        }
-
-        /// <summary>
-        /// 디버깅용 경로 정보
-        /// </summary>
-        public string GetPathSummary(AGVPathResult result)
-        {
-            if (!result.Success)
-                return $"경로 계산 실패: {result.ErrorMessage}";
-
-            var summary = new List<string>
-            {
-                $"=== AGV 고급 경로 계획 결과 ===",
-                $"총 노드 수: {result.DetailedPath.Count}",
-                $"총 거리: {result.TotalDistance:F1}px",
-                $"계산 시간: {result.CalculationTimeMs}ms",
-                $"방향 전환: {(result.RequiredDirectionChange ? $"필요 (노드: {result.DirectionChangeNode})" : "불필요")}",
-                $"설명: {result.PlanDescription}",
-                "",
-                "=== 상세 경로 ===",
-            };
-
-            foreach (var nodeInfo in result.DetailedPath)
-            {
-                summary.Add(nodeInfo.ToString());
-            }
-
-            return string.Join("\n", summary);
-        }
-
     }
 }
\ No newline at end of file