增加网格可视化开关，路径优化不成功

NavisworksTransportPlugin.csproj

@@ -156,6 +156,7 @@
     <Compile Include="src\PathPlanning\OptimizedHeightCalculator.cs" />
     <Compile Include="src\PathPlanning\ChannelBasedGridBuilder.cs" />
     <Compile Include="src\PathPlanning\VerticalScanProcessor.cs" />
+    <Compile Include="src\PathPlanning\PathOptimizer.cs" />
     
     <!-- UI - Forms -->
     <Compile Include="src\UI\Forms\LogisticsPropertyEditDialog.cs">

src/Core/PathPlanningManager.cs

@@ -48,6 +48,11 @@ namespace NavisworksTransport
 
         // 预览点管理
         private PathPoint _previewPoint = null;
+
+        // 网格可视化设置
+        private bool _showWalkableGrid = true;
+        private bool _showObstacleGrid = true;
+        private bool _showUnknownGrid = false;
         private bool _isPreviewMode = false;
         private int _previewInsertIndex = -1; // 保存预览点应该插入的索引位置
 
@@ -3101,6 +3106,53 @@ namespace NavisworksTransport
 
         #region 网格可视化方法
 
+        /// <summary>
+        /// 更新网格可视化设置
+        /// </summary>
+        /// <param name="showWalkable">是否显示可通行网格点</param>
+        /// <param name="showObstacle">是否显示障碍物网格点</param>
+        /// <param name="showUnknown">是否显示未知区域网格点</param>
+        public void UpdateGridVisualizationSettings(bool showWalkable, bool showObstacle, bool showUnknown)
+        {
+            try
+            {
+                LogManager.Info($"[网格可视化设置] 更新设置: 通行={showWalkable}, 障碍物={showObstacle}, 未知={showUnknown}");
+                
+                _showWalkableGrid = showWalkable;
+                _showObstacleGrid = showObstacle;
+                _showUnknownGrid = showUnknown;
+                
+                // 如果当前有网格正在显示，重新应用可视化
+                RefreshGridVisualization();
+                
+                LogManager.Info("[网格可视化设置] 设置更新完成");
+            }
+            catch (Exception ex)
+            {
+                LogManager.Error($"[网格可视化设置] 更新设置失败: {ex.Message}", ex);
+            }
+        }
+
+        /// <summary>
+        /// 刷新网格可视化（根据当前设置重新显示）
+        /// </summary>
+        private void RefreshGridVisualization()
+        {
+            try
+            {
+                // 清除当前网格可视化
+                ClearGridVisualization();
+                
+                // 如果存在当前网格地图，重新应用可视化
+                // 这里需要保存对最后一个gridMap的引用，或者从当前路径规划状态中重新获取
+                LogManager.Info("[网格可视化] 刷新完成 - 需要重新进行路径规划以查看网格");
+            }
+            catch (Exception ex)
+            {
+                LogManager.Error($"[网格可视化] 刷新失败: {ex.Message}", ex);
+            }
+        }
+
         /// <summary>
         /// 在3D视图中可视化网格中的可通行单元格
         /// 在每个可通行网格的中心绘制一个绿色小球
@@ -3172,30 +3224,42 @@ namespace NavisworksTransport
                         PathRoute targetRoute = null;
                         string gridTypeName = "";
                         
-                        // 根据网格类型确定目标路径和名称
+                        // 根据网格类型和用户设置确定目标路径和名称
                         if (cell.IsWalkable && cell.CellType == CategoryAttributeManager.LogisticsElementType.通道)
                         {
-                            targetRoute = channelRoute;
-                            gridTypeName = "通道";
-                            channelCells++;
+                            if (_showWalkableGrid) // 检查可通行网格开关
+                            {
+                                targetRoute = channelRoute;
+                                gridTypeName = "通道";
+                                channelCells++;
+                            }
                         }
                         else if (cell.IsWalkable && cell.CellType == CategoryAttributeManager.LogisticsElementType.楼板)
                         {
-                            targetRoute = channelRoute;  // 开放空间也用绿色显示
-                            gridTypeName = "开放";
-                            openSpaceCells++;
+                            if (_showWalkableGrid) // 检查可通行网格开关
+                            {
+                                targetRoute = channelRoute;  // 开放空间也用绿色显示
+                                gridTypeName = "开放";
+                                openSpaceCells++;
+                            }
                         }
                         else if (cell.CellType == CategoryAttributeManager.LogisticsElementType.Unknown)
                         {
-                            targetRoute = unknownRoute;
-                            gridTypeName = "空洞";
-                            unknownCells++;
+                            if (_showUnknownGrid) // 检查未知网格开关
+                            {
+                                targetRoute = unknownRoute;
+                                gridTypeName = "空洞";
+                                unknownCells++;
+                            }
                         }
                         else if (cell.CellType == CategoryAttributeManager.LogisticsElementType.障碍物)
                         {
-                            targetRoute = obstacleRoute;
-                            gridTypeName = "障碍";
-                            obstacleCells++;
+                            if (_showObstacleGrid) // 检查障碍物网格开关
+                            {
+                                targetRoute = obstacleRoute;
+                                gridTypeName = "障碍";
+                                obstacleCells++;
+                            }
                         }
                         
                         // 如果有对应的路径，创建并添加网格点

src/PathPlanning/AutoPathFinder.cs

@@ -6,6 +6,7 @@ using Roy_T.AStar.Grids;
 using Roy_T.AStar.Primitives;
 using Roy_T.AStar.Paths;
 using NavisworksTransport.Utils;
+using NavisworksTransport.Core;
 
 namespace NavisworksTransport.PathPlanning
 {
@@ -153,6 +154,9 @@ namespace NavisworksTransport.PathPlanning
                 
                 LogManager.Info($"[2.5D路径规划] 路径生成完成，最终包含 {finalPath.Count} 个路径点，完成度: {pathResult.CompletionPercentage:F1}%");
                 
+                // 路径优化 - 去除共线点
+                pathResult = OptimizePath(pathResult);
+                
                 return pathResult;
             }
             catch (Exception ex)
@@ -938,5 +942,71 @@ namespace NavisworksTransport.PathPlanning
             var dz = point2.Z - point1.Z;
             return Math.Sqrt(dx * dx + dy * dy + dz * dz);
         }
+
+        /// <summary>
+        /// 优化路径（去除共线点等）
+        /// </summary>
+        /// <param name="pathResult">原始路径查找结果</param>
+        /// <returns>优化后的路径查找结果</returns>
+        private PathFindingResult OptimizePath(PathFindingResult pathResult)
+        {
+            if (pathResult == null || pathResult.PathPoints.Count <= 2)
+            {
+                return pathResult;
+            }
+
+            try
+            {
+                // 创建临时路径用于优化
+                var tempRoute = new PathRoute("临时优化路径");
+                for (int i = 0; i < pathResult.PathPoints.Count; i++)
+                {
+                    var point = pathResult.PathPoints[i];
+                    var pathPoint = new PathPoint
+                    {
+                        Position = point,
+                        Index = i,
+                        Type = i == 0 ? PathPointType.StartPoint : 
+                               i == pathResult.PathPoints.Count - 1 ? PathPointType.EndPoint : 
+                               PathPointType.WayPoint,
+                        Name = $"路径点{i}"
+                    };
+                    tempRoute.Points.Add(pathPoint);
+                }
+
+                // 🔥 暂时关闭路径优化功能，避免斜线问题
+                // TODO: 后续重新设计更可靠的路径优化算法
+                /*
+                // 创建路径优化器并执行优化
+                var optimizerConfig = new PathOptimizer.OptimizationConfig
+                {
+                    EnableSimplification = true,
+                    CollinearTolerance = 0.01
+                };
+                var optimizer = new PathOptimizer(optimizerConfig);
+                var optimizedRoute = optimizer.OptimizePath(tempRoute);
+
+                if (optimizedRoute != null && optimizedRoute.Points.Count > 0)
+                {
+                    // 提取优化后的点位置
+                    var optimizedPoints = optimizedRoute.Points.Select(p => p.Position).ToList();
+                    
+                    LogManager.Info($"[路径优化] 点数变化：{pathResult.PathPoints.Count} -> {optimizedPoints.Count}");
+                    
+                    // 更新路径结果
+                    pathResult.PathPoints = optimizedPoints;
+                }
+                */
+                
+                LogManager.Info($"[路径生成] 使用原始A*算法结果，未进行路径优化，点数: {pathResult.PathPoints.Count}");
+
+                return pathResult;
+            }
+            catch (Exception ex)
+            {
+                LogManager.Error($"[路径优化] 优化失败，使用原始路径: {ex.Message}", ex);
+                return pathResult; // 出错时返回原始路径
+            }
+        }
     }
 }

src/PathPlanning/ChannelHeightDetector.cs

@@ -41,7 +41,7 @@ namespace NavisworksTransport.PathPlanning
         {
             try
             {
-                LogManager.Info($"[高度检测] 🔍 开始检测位置 ({position.X:F2}, {position.Y:F2}, {position.Z:F2}) 的地面高度，通道数={channelItems?.Count() ?? 0}");
+                //LogManager.Info($"[高度检测] 🔍 开始检测位置 ({position.X:F2}, {position.Y:F2}, {position.Z:F2}) 的地面高度，通道数={channelItems?.Count() ?? 0}");
 
                 // 寻找包含该位置的通道
                 var containingChannel = FindContainingChannel(position, channelItems);
@@ -51,7 +51,7 @@ namespace NavisworksTransport.PathPlanning
                     return position.Z;
                 }
                 
-                LogManager.Info($"[高度检测] ✅ 找到包含通道: {containingChannel.DisplayName}");
+                //LogManager.Info($"[高度检测] ✅ 找到包含通道: {containingChannel.DisplayName}");
 
                 // 检查缓存
                 var cacheKey = GenerateCacheKey(containingChannel, position);
@@ -103,7 +103,7 @@ namespace NavisworksTransport.PathPlanning
         {
             try
             {
-                LogManager.Info($"[高度检测] 🔍 开始检测位置 ({position.X:F2}, {position.Y:F2}, {position.Z:F2}) 的顶面高度，通道数={channelItems?.Count() ?? 0}");
+                //LogManager.Info($"[高度检测] 🔍 开始检测位置 ({position.X:F2}, {position.Y:F2}, {position.Z:F2}) 的顶面高度，通道数={channelItems?.Count() ?? 0}");
 
                 // 寻找包含该位置的通道
                 var containingChannel = FindContainingChannel(position, channelItems);
@@ -113,7 +113,7 @@ namespace NavisworksTransport.PathPlanning
                     return position.Z;
                 }
                 
-                LogManager.Info($"[高度检测] ✅ 找到包含通道: {containingChannel.DisplayName}");
+                //LogManager.Info($"[高度检测] ✅ 找到包含通道: {containingChannel.DisplayName}");
 
                 // 检查缓存
                 var cacheKey = GenerateCacheKey(containingChannel, position);
@@ -172,8 +172,6 @@ namespace NavisworksTransport.PathPlanning
                     return null;
                 }
 
-                LogManager.Debug($"[高度检测] 开始分析通道几何: {channel.DisplayName}");
-
                 // 获取通道的边界框
                 var bounds = channel.Geometry.BoundingBox;
                 if (bounds == null)
@@ -194,7 +192,6 @@ namespace NavisworksTransport.PathPlanning
                 // 采样通道高度剖面
                 SampleChannelHeightProfile(channel, heightInfo);
 
-                LogManager.Info($"[高度检测] 通道分析完成: 地面高度={heightInfo.FloorHeight:F2}, 顶面高度={heightInfo.CeilingHeight:F2}");
                 return heightInfo;
             }
             catch (Exception ex)
@@ -218,7 +215,7 @@ namespace NavisworksTransport.PathPlanning
             {
                 if (IsPositionInChannel(position, channel))
                 {
-                    LogManager.Debug($"[高度检测] 找到包含位置的通道: {channel.DisplayName}");
+                    //LogManager.Debug($"[高度检测] 找到包含位置的通道: {channel.DisplayName}");
                     return channel;
                 }
             }

src/PathPlanning/PathOptimizer.cs

@@ -0,0 +1,351 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using Autodesk.Navisworks.Api;
+using NavisworksTransport.Core;
+
+namespace NavisworksTransport.PathPlanning
+{
+    /// <summary>
+    /// 路径优化器
+    /// 提供多种路径优化算法，包括简化、平滑、避障等
+    /// </summary>
+    public class PathOptimizer
+    {
+        /// <summary>
+        /// 路径优化配置参数
+        /// </summary>
+        public class OptimizationConfig
+        {
+            /// <summary>
+            /// 是否启用路径简化（去除共线点）
+            /// </summary>
+            public bool EnableSimplification { get; set; } = true;
+
+            /// <summary>
+            /// 共线检测的容差值（米）
+            /// </summary>
+            public double CollinearTolerance { get; set; } = 0.01;
+
+            /// <summary>
+            /// 是否启用路径平滑（未来扩展）
+            /// </summary>
+            public bool EnableSmoothing { get; set; } = false;
+
+            /// <summary>
+            /// 转弯半径（米，未来扩展）
+            /// </summary>
+            public double TurningRadius { get; set; } = 1.0;
+
+            /// <summary>
+            /// 圆弧分段数（未来扩展）
+            /// </summary>
+            public int ArcSegments { get; set; } = 8;
+
+            /// <summary>
+            /// 是否启用碰撞检测验证（未来扩展）
+            /// </summary>
+            public bool EnableCollisionCheck { get; set; } = false;
+
+            /// <summary>
+            /// 车辆长度（米，未来扩展）
+            /// </summary>
+            public double VehicleLength { get; set; } = 2.0;
+
+            /// <summary>
+            /// 车辆宽度（米，未来扩展）
+            /// </summary>
+            public double VehicleWidth { get; set; } = 1.0;
+        }
+
+        private readonly OptimizationConfig _config;
+
+        /// <summary>
+        /// 构造函数
+        /// </summary>
+        /// <param name="config">优化配置，为null时使用默认配置</param>
+        public PathOptimizer(OptimizationConfig config = null)
+        {
+            _config = config ?? new OptimizationConfig();
+        }
+
+        /// <summary>
+        /// 优化路径的主入口
+        /// </summary>
+        /// <param name="originalPath">原始路径</param>
+        /// <returns>优化后的路径</returns>
+        public PathRoute OptimizePath(PathRoute originalPath)
+        {
+            if (originalPath == null)
+            {
+                LogManager.Warning("[路径优化] 原始路径为null");
+                return null;
+            }
+
+            if (originalPath.Points.Count <= 2)
+            {
+                LogManager.Info("[路径优化] 路径点数量≤2，无需优化");
+                return originalPath;
+            }
+
+            try
+            {
+                var startTime = DateTime.Now;
+                var originalCount = originalPath.Points.Count;
+                
+                LogManager.Info($"[路径优化] 开始优化路径：{originalPath.Name}，原始点数：{originalCount}");
+
+                // 复制路径点进行优化
+                var optimizedPoints = new List<PathPoint>(originalPath.Points);
+
+                // 1. 基础简化 - 去除共线点
+                if (_config.EnableSimplification)
+                {
+                    LogManager.Info("[路径优化] 执行共线点简化");
+                    optimizedPoints = SimplifyCollinearPoints(optimizedPoints);
+                    LogManager.Info($"[路径优化] 简化完成，点数：{originalCount} -> {optimizedPoints.Count}");
+                }
+
+                // 2. 未来扩展：路径平滑
+                if (_config.EnableSmoothing)
+                {
+                    LogManager.Info("[路径优化] 路径平滑功能尚未实现");
+                    // optimizedPoints = SmoothPath(optimizedPoints);
+                }
+
+                // 3. 未来扩展：碰撞检测验证
+                if (_config.EnableCollisionCheck)
+                {
+                    LogManager.Info("[路径优化] 碰撞检测功能尚未实现");
+                    // ValidatePathCollision(optimizedPoints);
+                }
+
+                // 创建优化后的路径
+                var optimizedRoute = CreateOptimizedRoute(originalPath, optimizedPoints);
+
+                var duration = DateTime.Now - startTime;
+                LogManager.Info($"[路径优化] 优化完成，耗时：{duration.TotalMilliseconds:F1}ms，优化率：{(1.0 - (double)optimizedPoints.Count / originalCount) * 100:F1}%");
+
+                return optimizedRoute;
+            }
+            catch (Exception ex)
+            {
+                LogManager.Error($"[路径优化] 优化过程发生异常：{ex.Message}", ex);
+                return originalPath; // 发生异常时返回原始路径
+            }
+        }
+
+        /// <summary>
+        /// 简化共线点（去除直线上的冗余点）
+        /// </summary>
+        /// <param name="points">原始路径点列表</param>
+        /// <returns>简化后的路径点列表</returns>
+        private List<PathPoint> SimplifyCollinearPoints(List<PathPoint> points)
+        {
+            if (points.Count <= 2) return points;
+
+            var simplified = new List<PathPoint>();
+            simplified.Add(points[0]); // 添加起点
+
+            LogManager.Info($"[共线简化] 开始简化，原始点数：{points.Count}");
+            int removedCount = 0;
+
+            // 遍历中间点，只保留转折点
+            for (int i = 1; i < points.Count - 1; i++)
+            {
+                var prevPoint = points[i - 1];
+                var currPoint = points[i];
+                var nextPoint = points[i + 1];
+
+                // 检查是否在同一直线上
+                bool isCollinear = IsCollinear(prevPoint.Position, currPoint.Position, nextPoint.Position);
+
+                if (!isCollinear)
+                {
+                    // 这是一个转折点，需要保留
+                    simplified.Add(currPoint);
+                    LogManager.Debug($"[共线简化] 保留转折点 {i}：{currPoint.Name}");
+                }
+                else
+                {
+                    // 这是直线上的冗余点，跳过
+                    removedCount++;
+                    LogManager.Debug($"[共线简化] 移除冗余点 {i}：{currPoint.Name}");
+                }
+            }
+
+            simplified.Add(points[points.Count - 1]); // 添加终点
+
+            LogManager.Info($"[共线简化] 简化完成，移除了 {removedCount} 个冗余点");
+            return simplified;
+        }
+
+        /// <summary>
+        /// 检查三点是否真正共线（只有当三点都在同一条直线上且方向一致时才返回true）
+        /// 🔥 关键修复：严格检查两个线段的方向是否一致，防止在转折点处错误合并
+        /// </summary>
+        /// <param name="p1">第一个点</param>
+        /// <param name="p2">第二个点（中间点）</param>
+        /// <param name="p3">第三个点</param>
+        /// <returns>如果三点在同一直线上且方向一致返回true</returns>
+        private bool IsCollinear(Point3D p1, Point3D p2, Point3D p3)
+        {
+            const double tolerance = 0.1; // 容差值，单位：模型单位
+
+            // 🔥 修复：首先检查Z坐标，确保是2D路径
+            if (Math.Abs(p1.Z - p2.Z) > tolerance || Math.Abs(p2.Z - p3.Z) > tolerance)
+            {
+                LogManager.Debug($"[共线检测] ❌ 拒绝Z方向变化：({p1.X:F3},{p1.Y:F3},{p1.Z:F3}) -> ({p2.X:F3},{p2.Y:F3},{p2.Z:F3}) -> ({p3.X:F3},{p3.Y:F3},{p3.Z:F3})");
+                return false;
+            }
+
+            // 🔥 关键修复：分别检查两个线段的方向
+            // 线段1: p1 -> p2
+            double dx12 = p2.X - p1.X;
+            double dy12 = p2.Y - p1.Y;
+            
+            // 线段2: p2 -> p3  
+            double dx23 = p3.X - p2.X;
+            double dy23 = p3.Y - p2.Y;
+
+            // 🔥 修复：使用更严格的容差检查真正的重复点（坐标完全相同）
+            const double duplicatePointTolerance = 0.001; // 用很小的值检查真正的重复点
+            bool isSegment1Zero = Math.Abs(dx12) < duplicatePointTolerance && Math.Abs(dy12) < duplicatePointTolerance;
+            bool isSegment2Zero = Math.Abs(dx23) < duplicatePointTolerance && Math.Abs(dy23) < duplicatePointTolerance;
+            
+            if (isSegment1Zero || isSegment2Zero)
+            {
+                // 🔥 关键修复：只有在真正重复点时才认为共线
+                LogManager.Debug($"[共线检测] ✅ 包含真正重复点，视为共线：({p1.X:F3},{p1.Y:F3}) -> ({p2.X:F3},{p2.Y:F3}) -> ({p3.X:F3},{p3.Y:F3})");
+                return true;  
+            }
+
+            // 🔥 关键修复：严格检查两个线段是否都是水平或都是垂直
+            bool isSegment1Horizontal = Math.Abs(dy12) < tolerance && Math.Abs(dx12) > tolerance;
+            bool isSegment1Vertical = Math.Abs(dx12) < tolerance && Math.Abs(dy12) > tolerance;
+            
+            bool isSegment2Horizontal = Math.Abs(dy23) < tolerance && Math.Abs(dx23) > tolerance;
+            bool isSegment2Vertical = Math.Abs(dx23) < tolerance && Math.Abs(dy23) > tolerance;
+
+            // 🔥 核心逻辑：两个线段必须都是同一种类型（都水平或都垂直）
+            if (isSegment1Horizontal && isSegment2Horizontal)
+            {
+                // 检查水平方向是否一致（同向或反向都可以）
+                bool sameDirection = (dx12 * dx23 > 0) || Math.Abs(dx12) < tolerance || Math.Abs(dx23) < tolerance;
+                if (sameDirection)
+                {
+                    LogManager.Debug($"[共线检测] ✅ 水平共线：({p1.X:F3},{p1.Y:F3}) -> ({p2.X:F3},{p2.Y:F3}) -> ({p3.X:F3},{p3.Y:F3})");
+                    return true;
+                }
+                else
+                {
+                    LogManager.Debug($"[共线检测] ❌ 水平线段方向相反：dx12={dx12:F3}, dx23={dx23:F3}");
+                    return false;
+                }
+            }
+            else if (isSegment1Vertical && isSegment2Vertical)
+            {
+                // 检查垂直方向是否一致（同向或反向都可以）
+                bool sameDirection = (dy12 * dy23 > 0) || Math.Abs(dy12) < tolerance || Math.Abs(dy23) < tolerance;
+                if (sameDirection)
+                {
+                    LogManager.Debug($"[共线检测] ✅ 垂直共线：({p1.X:F3},{p1.Y:F3}) -> ({p2.X:F3},{p2.Y:F3}) -> ({p3.X:F3},{p3.Y:F3})");
+                    return true;
+                }
+                else
+                {
+                    LogManager.Debug($"[共线检测] ❌ 垂直线段方向相反：dy12={dy12:F3}, dy23={dy23:F3}");
+                    return false;
+                }
+            }
+            else
+            {
+                // 🔥 关键：不同类型的线段（一个水平一个垂直，或包含斜线）一律拒绝
+                string seg1Type = isSegment1Horizontal ? "水平" : (isSegment1Vertical ? "垂直" : "斜线");
+                string seg2Type = isSegment2Horizontal ? "水平" : (isSegment2Vertical ? "垂直" : "斜线");
+                LogManager.Debug($"[共线检测] ❌ 线段类型不匹配：线段1={seg1Type}({dx12:F3},{dy12:F3}), 线段2={seg2Type}({dx23:F3},{dy23:F3})");
+                return false;
+            }
+        }
+
+        /// <summary>
+        /// 创建优化后的路径对象
+        /// </summary>
+        /// <param name="originalPath">原始路径</param>
+        /// <param name="optimizedPoints">优化后的路径点</param>
+        /// <returns>优化后的路径对象</returns>
+        private PathRoute CreateOptimizedRoute(PathRoute originalPath, List<PathPoint> optimizedPoints)
+        {
+            var optimizedRoute = new PathRoute($"{originalPath.Name}_优化")
+            {
+                Id = originalPath.Id,
+                IsComplete = originalPath.IsComplete,
+                OriginalEndPoint = originalPath.OriginalEndPoint,
+                ActualEndPoint = originalPath.ActualEndPoint,
+                CompletionPercentage = originalPath.CompletionPercentage
+            };
+
+            // 重新分配索引和更新点类型
+            for (int i = 0; i < optimizedPoints.Count; i++)
+            {
+                var point = optimizedPoints[i];
+                point.Index = i;
+
+                // 重新确定点类型
+                if (i == 0)
+                    point.Type = PathPointType.StartPoint;
+                else if (i == optimizedPoints.Count - 1)
+                    point.Type = PathPointType.EndPoint;
+                else
+                    point.Type = PathPointType.WayPoint;
+
+                optimizedRoute.Points.Add(point);
+            }
+
+            // 重新计算路径长度
+            optimizedRoute.RecalculateLength();
+
+            return optimizedRoute;
+        }
+
+        #region 未来扩展方法（暂时保留接口）
+
+        /// <summary>
+        /// 路径平滑处理（未来实现）
+        /// </summary>
+        /// <param name="points">路径点列表</param>
+        /// <returns>平滑后的路径点列表</returns>
+        private List<PathPoint> SmoothPath(List<PathPoint> points)
+        {
+            // TODO: 实现贝塞尔曲线或圆弧平滑
+            LogManager.Info("[路径平滑] 功能尚未实现");
+            return points;
+        }
+
+        /// <summary>
+        /// 在转角处添加圆弧（未来实现）
+        /// </summary>
+        /// <param name="points">路径点列表</param>
+        /// <returns>添加圆弧后的路径点列表</returns>
+        private List<PathPoint> AddTurningArcs(List<PathPoint> points)
+        {
+            // TODO: 在转角处添加圆弧
+            LogManager.Info("[圆弧转弯] 功能尚未实现");
+            return points;
+        }
+
+        /// <summary>
+        /// 验证路径碰撞（未来实现）
+        /// </summary>
+        /// <param name="points">路径点列表</param>
+        /// <returns>是否通过碰撞检测</returns>
+        private bool ValidatePathCollision(List<PathPoint> points)
+        {
+            // TODO: 实现碰撞检测验证
+            LogManager.Info("[碰撞检测] 功能尚未实现");
+            return true;
+        }
+
+        #endregion
+    }
+}

src/UI/WPF/ViewModels/SystemManagementViewModel.cs

@@ -22,6 +22,11 @@ namespace NavisworksTransport.UI.WPF.ViewModels
         // 系统管理相关字段
         private bool _isAutoSaveEnabled = true;
         private bool _isDebugModeEnabled = false;
+        
+        // 网格可视化开关字段
+        private bool _showWalkableGrid = false;
+        private bool _showObstacleGrid = false;
+        private bool _showUnknownGrid = false;
         private ObservableCollection<string> _logLevels;
         private string _selectedLogLevel = "Info";
         private string _logStatus = "日志系统正常";
@@ -62,6 +67,51 @@ namespace NavisworksTransport.UI.WPF.ViewModels
             set => SetProperty(ref _isDebugModeEnabled, value);
         }
 
+        /// <summary>
+        /// 是否显示可通行网格点
+        /// </summary>
+        public bool ShowWalkableGrid
+        {
+            get => _showWalkableGrid;
+            set 
+            {
+                if (SetProperty(ref _showWalkableGrid, value))
+                {
+                    OnGridVisualizationChanged();
+                }
+            }
+        }
+
+        /// <summary>
+        /// 是否显示障碍物网格点
+        /// </summary>
+        public bool ShowObstacleGrid
+        {
+            get => _showObstacleGrid;
+            set 
+            {
+                if (SetProperty(ref _showObstacleGrid, value))
+                {
+                    OnGridVisualizationChanged();
+                }
+            }
+        }
+
+        /// <summary>
+        /// 是否显示未知区域网格点
+        /// </summary>
+        public bool ShowUnknownGrid
+        {
+            get => _showUnknownGrid;
+            set 
+            {
+                if (SetProperty(ref _showUnknownGrid, value))
+                {
+                    OnGridVisualizationChanged();
+                }
+            }
+        }
+
         /// <summary>
         /// 日志级别集合
         /// </summary>
@@ -244,6 +294,68 @@ namespace NavisworksTransport.UI.WPF.ViewModels
             }
         }
 
+        /// <summary>
+        /// 网格可视化设置变更事件处理
+        /// </summary>
+        private void OnGridVisualizationChanged()
+        {
+            try
+            {
+                LogManager.Info($"网格可视化设置已更改: 通行={ShowWalkableGrid}, 障碍物={ShowObstacleGrid}, 未知={ShowUnknownGrid}");
+                
+                // 通知路径规划管理器更新网格可视化
+                var pathPlanningManager = GetPathPlanningManager();
+                if (pathPlanningManager != null)
+                {
+                    // 应用新的可视化设置
+                    pathPlanningManager.UpdateGridVisualizationSettings(
+                        showWalkable: ShowWalkableGrid,
+                        showObstacle: ShowObstacleGrid, 
+                        showUnknown: ShowUnknownGrid);
+                    
+                    SettingsStatus = "网格可视化设置已更新";
+                }
+                else
+                {
+                    LogManager.Warning("无法获取路径规划管理器，网格可视化设置可能不会立即生效");
+                    SettingsStatus = "网格可视化设置已保存";
+                }
+            }
+            catch (Exception ex)
+            {
+                LogManager.Error($"应用网格可视化设置失败: {ex.Message}", ex);
+                SettingsStatus = "网格可视化设置应用失败";
+            }
+        }
+
+        /// <summary>
+        /// 获取路径规划管理器实例
+        /// </summary>
+        /// <returns>路径规划管理器或null</returns>
+        private PathPlanningManager GetPathPlanningManager()
+        {
+            try
+            {
+                // 使用PathPlanningManager的静态方法获取活动实例
+                var pathManager = PathPlanningManager.GetActivePathManager();
+                if (pathManager != null)
+                {
+                    LogManager.Info("成功获取到活动的PathPlanningManager实例");
+                    return pathManager;
+                }
+                else
+                {
+                    LogManager.Warning("当前没有活动的PathPlanningManager实例");
+                    return null;
+                }
+            }
+            catch (Exception ex)
+            {
+                LogManager.Error($"获取PathPlanningManager失败: {ex.Message}", ex);
+                return null;
+            }
+        }
+
         /// <summary>
         /// 初始化系统管理设置
         /// </summary>

src/UI/WPF/Views/SystemManagementView.xaml

@@ -112,6 +112,40 @@ NavisworksTransport 系统管理页签视图 - 采用与其他页签一致的Nav
                                   VerticalAlignment="Center"/>
                     </StackPanel>
                     
+                    <!-- 网格可视化开关 -->
+                    <Grid Margin="0,10,0,10">
+                        <Grid.ColumnDefinitions>
+                            <ColumnDefinition Width="Auto"/>
+                            <ColumnDefinition Width="*"/>
+                        </Grid.ColumnDefinitions>
+                        
+                        <Label Grid.Column="0" 
+                               Content="网格可视化:" 
+                               Style="{StaticResource ParameterLabelStyle}" 
+                               Width="100" 
+                               VerticalAlignment="Center"/>
+                        
+                        <StackPanel Grid.Column="1" 
+                                    Orientation="Horizontal" 
+                                    VerticalAlignment="Center"
+                                    Margin="5,0,0,0">
+                            <CheckBox Content="通行" 
+                                      IsChecked="{Binding ShowWalkableGrid}" 
+                                      Margin="0,0,20,0"
+                                      VerticalAlignment="Center"
+                                      ToolTip="显示可通行的网格点"/>
+                            <CheckBox Content="障碍物" 
+                                      IsChecked="{Binding ShowObstacleGrid}"
+                                      Margin="0,0,20,0"
+                                      VerticalAlignment="Center"
+                                      ToolTip="显示障碍物网格点"/>
+                            <CheckBox Content="未知" 
+                                      IsChecked="{Binding ShowUnknownGrid}"
+                                      VerticalAlignment="Center"
+                                      ToolTip="显示未知区域网格点"/>
+                        </StackPanel>
+                    </Grid>
+                    
                     <!-- 状态显示 -->
                     <Label Content="{Binding SettingsStatus}" 
                            Style="{StaticResource StatusLabelStyle}"/>