diff --git a/server/states/MovingState.js b/server/states/MovingState.js
new file mode 100644
index 0000000..addfc98
--- /dev/null
+++ b/server/states/MovingState.js
@@ -0,0 +1,78 @@
+/**
+ * MovingState - Navigate the turtle to a target position using D* Lite
+ */
+import { BaseState } from './BaseState.js';
+
+export class MovingState extends BaseState {
+  constructor(turtle, data = {}) {
+    super(turtle, data);
+    this.target = data.target; // {x, y, z}
+    this.onArrival = data.onArrival || null; // Callback/next state when arrived
+    this.canMine = data.canMine !== false;
+  }
+
+  get name() {
+    return 'moving';
+  }
+
+  get description() {
+    const pos = this.target;
+    if (pos) {
+      return `Moving to (${pos.x}, ${pos.y}, ${pos.z})`;
+    }
+    return 'Moving to target';
+  }
+
+  async *act() {
+    if (!this.target) {
+      console.log(`[${this.turtle.id}] MovingState: No target set`);
+      this.turtle.setState('idle');
+      return;
+    }
+
+    console.log(`[${this.turtle.id}] Moving to ${this.target.x},${this.target.y},${this.target.z}`);
+
+    // Use the navigateTo generator from BaseState
+    const nav = this.navigateTo(this.target, { canMine: this.canMine });
+    
+    for await (const _ of nav) {
+      if (this.cancelled) return;
+      yield;
+    }
+
+    // Check if we actually arrived
+    const pos = this.turtle.position;
+    if (pos) {
+      const { Point } = await import('../pathfinding/index.js');
+      const current = Point.from(pos);
+      const goal = Point.from(this.target);
+      
+      if (current.distanceTo(goal) <= 1) {
+        console.log(`[${this.turtle.id}] Arrived at destination`);
+        
+        if (this.onArrival === 'idle') {
+          this.turtle.setState('idle');
+        } else if (this.onArrival === 'mine') {
+          this.turtle.setState('mining', this.data);
+        } else {
+          this.turtle.setState('idle');
+        }
+        return;
+      }
+    }
+
+    console.log(`[${this.turtle.id}] Failed to reach destination`);
+    this.turtle.setState('idle');
+  }
+
+  getRecoveryData() {
+    return {
+      ...super.getRecoveryData(),
+      data: {
+        target: this.target,
+        onArrival: this.onArrival,
+        canMine: this.canMine,
+      },
+    };
+  }
+}