diff --git a/AGVLogic/AGVNavigationCore/Models/VirtualAGV.cs b/AGVLogic/AGVNavigationCore/Models/VirtualAGV.cs
index 27fdc2a..c8e7ffc 100644
--- a/AGVLogic/AGVNavigationCore/Models/VirtualAGV.cs
+++ b/AGVLogic/AGVNavigationCore/Models/VirtualAGV.cs
@@ -56,7 +56,7 @@ namespace AGVNavigationCore.Models
         private AgvDirection _prevDirection;
         private AGVState _currentState;
         private float _currentSpeed;
-
+        private MapNode _targetnode = null;
         // 경로 관련
         private AGVPathResult _currentPath;
         private List<string> _remainingNodes;
@@ -311,7 +311,6 @@ namespace AGVNavigationCore.Models
         /// <returns>다음에 수행할 모터/마그넷/속도 명령</returns>
         public AGVCommand Predict()
         {
-
             // 1. 위치 미확정 상태 (RFID 2개 미만 감지)
             if (!_isPositionConfirmed)
             {
@@ -365,10 +364,10 @@ namespace AGVNavigationCore.Models
                     {
                         //움직이지 않는다면 움직이게하고, 움직인다면 마크스탑하낟.i
                         
-
+                        
                         //도킹노드라면 markstop  을 나머지는 바로 스탑한다.
                         eAGVCommandReason reason = eAGVCommandReason.MarkStop;
-                        if (_targetnode.StationType == StationType.Normal || _targetnode.StationType == StationType.Limit)
+                        if (TargetNode.StationType == StationType.Normal || TargetNode.StationType == StationType.Limit)
                         {
                             //일반노드는 마크스탑포인트가 없으니 바로 종료되도록 한다
                             reason = eAGVCommandReason.Complete;
@@ -388,8 +387,8 @@ namespace AGVNavigationCore.Models
             }
 
             // 4. 경로이탈
-            var TargetNode = _currentPath.DetailedPath.Where(t => t.IsPass == false && t.NodeId.Equals(_currentNode.Id)).FirstOrDefault();
-            if (TargetNode == null)
+            var checkPathOutNode = _currentPath.DetailedPath.Where(t => t.IsPass == false && t.NodeId.Equals(_currentNode.Id)).FirstOrDefault();
+            if (checkPathOutNode == null)
             {
                 return new AGVCommand(
                     MotorCommand.Stop,
@@ -835,9 +834,7 @@ namespace AGVNavigationCore.Models
         }
 
         public MapNode StartNode { get; set; } = null;
-
-        private MapNode _targetnode = null;
-
+      
         /// <summary>
         /// 목적지를 설정합니다. 목적지가 변경되면 경로계산정보가 삭제 됩니다.
         /// </summary>
@@ -857,6 +854,10 @@ namespace AGVNavigationCore.Models
             }
         }
 
+     
+
+       
+
         private void ProcessNextNode()
         {
             if (_remainingNodes == null || _currentNodeIndex >= _remainingNodes.Count - 1)