Travel (v) is used in general terms as a verb - it usually means to change location. The word travel is very rarely used as a noun.
For example: I have to travel a lot for work.
Trip (n) is often substituted for the word 'holiday' when the travelling distance was short.
For example: How was your trip?
It is often used in connection with business.
For example: I have to travel a lot for work. I am off on another business trip next week.
Trip (v) has a totally different meaning. It means to nearly fall over.
For example: I tripped over the carpet and sprained my ankle.
Voyage (n) is usually a long journey by boat. The word voyage is very rarely used as a verb.
For example: The voyage to South Africa took over six weeks.
Journey (n) is used more in British English than American English. It means the 'piece' of travel between 2 or more points. The word journey is very rarely used as a verb.
For example: The journey from Darmstadt to Nottingham takes 12 hours.