diff --git a/NavisworksTransportPlugin.csproj b/NavisworksTransportPlugin.csproj
index b7c524f..45e9265 100644
--- a/NavisworksTransportPlugin.csproj
+++ b/NavisworksTransportPlugin.csproj
@@ -190,6 +190,10 @@
     <Compile Include="src\PathPlanning\TimeMarkerCalculationService.cs" />
     <Compile Include="src\PathPlanning\GridMapCacheKey.cs" />
     <Compile Include="src\PathPlanning\GridMapCache.cs" />
+
+    <!-- PathPlanning - Voxel 3D Path Planning (Experimental) -->
+    <Compile Include="src\PathPlanning\VoxelCell.cs" />
+    <Compile Include="src\PathPlanning\VoxelGrid.cs" />
     
     <!-- UI - WPF -->
     <Compile Include="src\UI\WPF\Views\LogisticsControlPanel.xaml.cs">
diff --git a/src/PathPlanning/VoxelCell.cs b/src/PathPlanning/VoxelCell.cs
new file mode 100644
index 0000000..37e404e
--- /dev/null
+++ b/src/PathPlanning/VoxelCell.cs
@@ -0,0 +1,161 @@
+using System;
+using Autodesk.Navisworks.Api;
+using static NavisworksTransport.CategoryAttributeManager;
+
+namespace NavisworksTransport.PathPlanning
+{
+    /// <summary>
+    /// 体素单元类 - 表示3D网格中的单个体素
+    /// 用于体素网格路径规划，存储体素的属性和状态信息
+    /// </summary>
+    public class VoxelCell
+    {
+        /// <summary>
+        /// 体素类型（对应物流元素分类）
+        /// </summary>
+        public LogisticsElementType Type { get; set; }
+
+        /// <summary>
+        /// 是否可通行
+        /// true: 该体素为自由空间，可以通行
+        /// false: 该体素为障碍物或不可通行区域
+        /// </summary>
+        public bool IsPassable { get; set; }
+
+        /// <summary>
+        /// 到最近障碍物的距离（模型单位）
+        /// 使用Signed Distance Field (SDF)计算
+        /// 正值：自由空间，数值表示到最近障碍物的距离
+        /// 负值：障碍物内部，数值表示到障碍物表面的距离
+        /// 零值：障碍物表面
+        /// </summary>
+        public double Distance { get; set; }
+
+        /// <summary>
+        /// 速度限制（米/秒）
+        /// 根据体素所在区域的特性设置（如通道、电梯等）
+        /// 0.0 表示无速度限制（使用默认速度）
+        /// </summary>
+        public double SpeedLimit { get; set; }
+
+        /// <summary>
+        /// 源模型元素
+        /// 如果该体素对应某个BIM模型元素，存储其引用
+        /// 用于追溯体素属性的来源
+        /// </summary>
+        public ModelItem SourceItem { get; set; }
+
+        /// <summary>
+        /// 通行成本
+        /// 用于A*路径规划算法
+        /// 考虑因素：距离、速度限制、碰撞风险等
+        /// 值越大表示通行代价越高
+        /// </summary>
+        public double Cost { get; set; }
+
+        /// <summary>
+        /// 构造函数 - 创建默认的可通行体素
+        /// </summary>
+        public VoxelCell()
+        {
+            Type = LogisticsElementType.通道;
+            IsPassable = true;
+            Distance = double.MaxValue; // 初始化为无限远（远离障碍物）
+            SpeedLimit = 0.0; // 无速度限制
+            SourceItem = null;
+            Cost = 1.0; // 默认通行成本
+        }
+
+        /// <summary>
+        /// 构造函数 - 创建指定属性的体素
+        /// </summary>
+        /// <param name="isPassable">是否可通行</param>
+        /// <param name="type">体素类型</param>
+        /// <param name="distance">到最近障碍物的距离</param>
+        public VoxelCell(bool isPassable, LogisticsElementType type = LogisticsElementType.通道, double distance = double.MaxValue)
+        {
+            Type = type;
+            IsPassable = isPassable;
+            Distance = distance;
+            SpeedLimit = 0.0;
+            SourceItem = null;
+            Cost = isPassable ? 1.0 : double.MaxValue; // 不可通行区域成本为无穷大
+        }
+
+        /// <summary>
+        /// 克隆体素单元
+        /// </summary>
+        /// <returns>体素单元的深拷贝</returns>
+        public VoxelCell Clone()
+        {
+            return new VoxelCell
+            {
+                Type = this.Type,
+                IsPassable = this.IsPassable,
+                Distance = this.Distance,
+                SpeedLimit = this.SpeedLimit,
+                SourceItem = this.SourceItem,
+                Cost = this.Cost
+            };
+        }
+
+        /// <summary>
+        /// 设置为障碍物体素
+        /// </summary>
+        /// <param name="sourceItem">源模型元素</param>
+        public void SetAsObstacle(ModelItem sourceItem = null)
+        {
+            IsPassable = false;
+            Type = LogisticsElementType.障碍物;
+            Distance = 0.0; // 障碍物表面距离为0
+            Cost = double.MaxValue;
+            SourceItem = sourceItem;
+        }
+
+        /// <summary>
+        /// 设置为自由空间体素
+        /// </summary>
+        /// <param name="distance">到最近障碍物的距离</param>
+        public void SetAsFreeSpace(double distance = double.MaxValue)
+        {
+            IsPassable = true;
+            Type = LogisticsElementType.通道;
+            Distance = distance;
+            Cost = 1.0;
+        }
+
+        /// <summary>
+        /// 根据距离更新通行成本
+        /// 距离障碍物越近，成本越高（避免贴边行走）
+        /// </summary>
+        /// <param name="safetyMargin">安全边距（模型单位）</param>
+        public void UpdateCostFromDistance(double safetyMargin)
+        {
+            if (!IsPassable)
+            {
+                Cost = double.MaxValue;
+                return;
+            }
+
+            if (Distance < safetyMargin)
+            {
+                // 在安全边距内，成本线性增加
+                double ratio = Distance / safetyMargin;
+                Cost = 1.0 + (1.0 - ratio) * 10.0; // 成本范围：1.0 ~ 11.0
+            }
+            else
+            {
+                Cost = 1.0; // 安全距离外，标准成本
+            }
+        }
+
+        /// <summary>
+        /// 返回体素单元的字符串表示
+        /// </summary>
+        public override string ToString()
+        {
+            string passableStr = IsPassable ? "可通行" : "障碍";
+            return $"VoxelCell[{passableStr}, Type={Type}, Dist={Distance:F2}, Cost={Cost:F2}]";
+        }
+    }
+}
diff --git a/src/PathPlanning/VoxelGrid.cs b/src/PathPlanning/VoxelGrid.cs
new file mode 100644
index 0000000..0a1fe0b
--- /dev/null
+++ b/src/PathPlanning/VoxelGrid.cs
@@ -0,0 +1,371 @@
+using System;
+using System.Collections.Generic;
+using Autodesk.Navisworks.Api;
+
+namespace NavisworksTransport.PathPlanning
+{
+    /// <summary>
+    /// 3D体素网格类 - 用于真3D路径规划
+    /// 提供完整的3D空间离散化表示，支持任意高度的物体和通道
+    /// </summary>
+    public class VoxelGrid
+    {
+        /// <summary>
+        /// 3D体素数组 [x, y, z]
+        /// 注意：索引顺序为 [宽度, 深度, 高度]
+        /// </summary>
+        private VoxelCell[,,] cells;
+
+        /// <summary>
+        /// 网格原点（世界坐标，模型单位）
+        /// 对应体素索引 (0, 0, 0) 的世界坐标位置
+        /// </summary>
+        public Point3D Origin { get; private set; }
+
+        /// <summary>
+        /// 单个体素的尺寸（模型单位）
+        /// 所有三个维度使用相同的体素尺寸（立方体体素）
+        /// </summary>
+        public double VoxelSize { get; private set; }
+
+        /// <summary>
+        /// X方向（宽度）的体素数量
+        /// </summary>
+        public int SizeX { get; private set; }
+
+        /// <summary>
+        /// Y方向（深度）的体素数量
+        /// </summary>
+        public int SizeY { get; private set; }
+
+        /// <summary>
+        /// Z方向（高度）的体素数量
+        /// </summary>
+        public int SizeZ { get; private set; }
+
+        /// <summary>
+        /// 网格边界框（世界坐标，模型单位）
+        /// </summary>
+        public BoundingBox3D Bounds { get; private set; }
+
+        /// <summary>
+        /// 总体素数量
+        /// </summary>
+        public int TotalVoxels => SizeX * SizeY * SizeZ;
+
+        /// <summary>
+        /// 构造函数 - 创建指定尺寸的体素网格
+        /// </summary>
+        /// <param name="bounds">网格边界框（世界坐标，模型单位）</param>
+        /// <param name="voxelSize">体素尺寸（模型单位）</param>
+        public VoxelGrid(BoundingBox3D bounds, double voxelSize)
+        {
+            if (voxelSize <= 0)
+                throw new ArgumentException("体素尺寸必须大于0", nameof(voxelSize));
+
+            VoxelSize = voxelSize;
+            Bounds = bounds;
+            Origin = bounds.Min;
+
+            // 计算每个维度需要的体素数量（向上取整以覆盖整个边界框）
+            double width = bounds.Max.X - bounds.Min.X;
+            double depth = bounds.Max.Y - bounds.Min.Y;
+            double height = bounds.Max.Z - bounds.Min.Z;
+
+            SizeX = (int)Math.Ceiling(width / voxelSize);
+            SizeY = (int)Math.Ceiling(depth / voxelSize);
+            SizeZ = (int)Math.Ceiling(height / voxelSize);
+
+            // 初始化体素数组（所有体素默认为可通行）
+            cells = new VoxelCell[SizeX, SizeY, SizeZ];
+            InitializeCells();
+        }
+
+        /// <summary>
+        /// 初始化所有体素单元
+        /// </summary>
+        private void InitializeCells()
+        {
+            for (int x = 0; x < SizeX; x++)
+            {
+                for (int y = 0; y < SizeY; y++)
+                {
+                    for (int z = 0; z < SizeZ; z++)
+                    {
+                        cells[x, y, z] = new VoxelCell();
+                    }
+                }
+            }
+        }
+
+        /// <summary>
+        /// 获取指定索引的体素单元
+        /// </summary>
+        /// <param name="x">X方向索引</param>
+        /// <param name="y">Y方向索引</param>
+        /// <param name="z">Z方向索引</param>
+        /// <returns>体素单元，如果索引越界返回null</returns>
+        public VoxelCell GetCell(int x, int y, int z)
+        {
+            if (!IsValidIndex(x, y, z))
+                return null;
+
+            return cells[x, y, z];
+        }
+
+        /// <summary>
+        /// 设置指定索引的体素单元
+        /// </summary>
+        /// <param name="x">X方向索引</param>
+        /// <param name="y">Y方向索引</param>
+        /// <param name="z">Z方向索引</param>
+        /// <param name="cell">体素单元</param>
+        /// <returns>是否设置成功</returns>
+        public bool SetCell(int x, int y, int z, VoxelCell cell)
+        {
+            if (!IsValidIndex(x, y, z))
+                return false;
+
+            cells[x, y, z] = cell;
+            return true;
+        }
+
+        /// <summary>
+        /// 检查体素索引是否有效（在网格范围内）
+        /// </summary>
+        /// <param name="x">X方向索引</param>
+        /// <param name="y">Y方向索引</param>
+        /// <param name="z">Z方向索引</param>
+        /// <returns>索引是否有效</returns>
+        public bool IsValidIndex(int x, int y, int z)
+        {
+            return x >= 0 && x < SizeX &&
+                   y >= 0 && y < SizeY &&
+                   z >= 0 && z < SizeZ;
+        }
+
+        /// <summary>
+        /// 世界坐标转换为体素索引
+        /// 注意：体素索引代表体素的左下角，而不是中心点
+        /// </summary>
+        /// <param name="worldPos">世界坐标（模型单位）</param>
+        /// <returns>体素索引 (x, y, z)</returns>
+        public (int x, int y, int z) WorldToVoxel(Point3D worldPos)
+        {
+            int x = (int)Math.Floor((worldPos.X - Origin.X) / VoxelSize);
+            int y = (int)Math.Floor((worldPos.Y - Origin.Y) / VoxelSize);
+            int z = (int)Math.Floor((worldPos.Z - Origin.Z) / VoxelSize);
+
+            return (x, y, z);
+        }
+
+        /// <summary>
+        /// 体素索引转换为世界坐标（体素的左下角坐标）
+        /// </summary>
+        /// <param name="x">X方向索引</param>
+        /// <param name="y">Y方向索引</param>
+        /// <param name="z">Z方向索引</param>
+        /// <returns>世界坐标（模型单位）</returns>
+        public Point3D VoxelToWorld(int x, int y, int z)
+        {
+            double worldX = Origin.X + x * VoxelSize;
+            double worldY = Origin.Y + y * VoxelSize;
+            double worldZ = Origin.Z + z * VoxelSize;
+
+            return new Point3D(worldX, worldY, worldZ);
+        }
+
+        /// <summary>
+        /// 体素索引转换为世界坐标（体素的中心点坐标）
+        /// </summary>
+        /// <param name="x">X方向索引</param>
+        /// <param name="y">Y方向索引</param>
+        /// <param name="z">Z方向索引</param>
+        /// <returns>世界坐标（模型单位）</returns>
+        public Point3D VoxelToWorldCenter(int x, int y, int z)
+        {
+            double halfVoxel = VoxelSize / 2.0;
+            double worldX = Origin.X + x * VoxelSize + halfVoxel;
+            double worldY = Origin.Y + y * VoxelSize + halfVoxel;
+            double worldZ = Origin.Z + z * VoxelSize + halfVoxel;
+
+            return new Point3D(worldX, worldY, worldZ);
+        }
+
+        /// <summary>
+        /// 获取体素的6邻域（上下左右前后）
+        /// </summary>
+        /// <param name="x">X方向索引</param>
+        /// <param name="y">Y方向索引</param>
+        /// <param name="z">Z方向索引</param>
+        /// <returns>邻居体素索引列表</returns>
+        public List<(int x, int y, int z)> GetNeighbors6(int x, int y, int z)
+        {
+            var neighbors = new List<(int, int, int)>();
+
+            // 6个方向：右、左、后、前、上、下
+            int[,] directions = {
+                { 1, 0, 0 },   // +X 右
+                { -1, 0, 0 },  // -X 左
+                { 0, 1, 0 },   // +Y 后
+                { 0, -1, 0 },  // -Y 前
+                { 0, 0, 1 },   // +Z 上
+                { 0, 0, -1 }   // -Z 下
+            };
+
+            for (int i = 0; i < 6; i++)
+            {
+                int nx = x + directions[i, 0];
+                int ny = y + directions[i, 1];
+                int nz = z + directions[i, 2];
+
+                if (IsValidIndex(nx, ny, nz))
+                {
+                    neighbors.Add((nx, ny, nz));
+                }
+            }
+
+            return neighbors;
+        }
+
+        /// <summary>
+        /// 获取体素的26邻域（包括对角线方向）
+        /// </summary>
+        /// <param name="x">X方向索引</param>
+        /// <param name="y">Y方向索引</param>
+        /// <param name="z">Z方向索引</param>
+        /// <returns>邻居体素索引列表</returns>
+        public List<(int x, int y, int z)> GetNeighbors26(int x, int y, int z)
+        {
+            var neighbors = new List<(int, int, int)>();
+
+            // 26个方向：3x3x3立方体去掉中心点
+            for (int dx = -1; dx <= 1; dx++)
+            {
+                for (int dy = -1; dy <= 1; dy++)
+                {
+                    for (int dz = -1; dz <= 1; dz++)
+                    {
+                        // 跳过中心点
+                        if (dx == 0 && dy == 0 && dz == 0)
+                            continue;
+
+                        int nx = x + dx;
+                        int ny = y + dy;
+                        int nz = z + dz;
+
+                        if (IsValidIndex(nx, ny, nz))
+                        {
+                            neighbors.Add((nx, ny, nz));
+                        }
+                    }
+                }
+            }
+
+            return neighbors;
+        }
+
+        /// <summary>
+        /// 获取两个体素之间的欧几里得距离（体素单位）
+        /// </summary>
+        /// <param name="x1">第一个体素的X索引</param>
+        /// <param name="y1">第一个体素的Y索引</param>
+        /// <param name="z1">第一个体素的Z索引</param>
+        /// <param name="x2">第二个体素的X索引</param>
+        /// <param name="y2">第二个体素的Y索引</param>
+        /// <param name="z2">第二个体素的Z索引</param>
+        /// <returns>欧几里得距离（体素单位）</returns>
+        public double GetDistance(int x1, int y1, int z1, int x2, int y2, int z2)
+        {
+            int dx = x2 - x1;
+            int dy = y2 - y1;
+            int dz = z2 - z1;
+
+            return Math.Sqrt(dx * dx + dy * dy + dz * dz);
+        }
+
+        /// <summary>
+        /// 获取两个体素之间的曼哈顿距离（体素单位）
+        /// </summary>
+        /// <param name="x1">第一个体素的X索引</param>
+        /// <param name="y1">第一个体素的Y索引</param>
+        /// <param name="z1">第一个体素的Z索引</param>
+        /// <param name="x2">第二个体素的X索引</param>
+        /// <param name="y2">第二个体素的Y索引</param>
+        /// <param name="z2">第二个体素的Z索引</param>
+        /// <returns>曼哈顿距离（体素单位）</returns>
+        public int GetManhattanDistance(int x1, int y1, int z1, int x2, int y2, int z2)
+        {
+            return Math.Abs(x2 - x1) + Math.Abs(y2 - y1) + Math.Abs(z2 - z1);
+        }
+
+        /// <summary>
+        /// 检查指定索引的体素是否可通行
+        /// </summary>
+        /// <param name="x">X方向索引</param>
+        /// <param name="y">Y方向索引</param>
+        /// <param name="z">Z方向索引</param>
+        /// <returns>是否可通行（索引越界返回false）</returns>
+        public bool IsPassable(int x, int y, int z)
+        {
+            var cell = GetCell(x, y, z);
+            return cell != null && cell.IsPassable;
+        }
+
+        /// <summary>
+        /// 检查世界坐标位置是否可通行
+        /// </summary>
+        /// <param name="worldPos">世界坐标（模型单位）</param>
+        /// <returns>是否可通行</returns>
+        public bool IsPassable(Point3D worldPos)
+        {
+            var (x, y, z) = WorldToVoxel(worldPos);
+            return IsPassable(x, y, z);
+        }
+
+        /// <summary>
+        /// 获取网格的统计信息
+        /// </summary>
+        /// <returns>(总体素数, 可通行体素数, 障碍物体素数)</returns>
+        public (int total, int passable, int obstacle) GetStatistics()
+        {
+            int total = TotalVoxels;
+            int passable = 0;
+            int obstacle = 0;
+
+            for (int x = 0; x < SizeX; x++)
+            {
+                for (int y = 0; y < SizeY; y++)
+                {
+                    for (int z = 0; z < SizeZ; z++)
+                    {
+                        if (cells[x, y, z].IsPassable)
+                            passable++;
+                        else
+                            obstacle++;
+                    }
+                }
+            }
+
+            return (total, passable, obstacle);
+        }
+
+        /// <summary>
+        /// 清除所有体素（重置为可通行状态）
+        /// </summary>
+        public void Clear()
+        {
+            InitializeCells();
+        }
+
+        /// <summary>
+        /// 返回网格的字符串表示
+        /// </summary>
+        public override string ToString()
+        {
+            var (total, passable, obstacle) = GetStatistics();
+            double passableRatio = (double)passable / total * 100.0;
+            return $"VoxelGrid[{SizeX}x{SizeY}x{SizeZ}={total}体素, 可通行:{passableRatio:F1}%, 体素尺寸:{VoxelSize:F2}模型单位]";
+        }
+    }
+}