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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.
Trip (n) is often substituted for the word holiday when the travelling distance was short.
It is often used in connection with business.
Trip (v) has a totally different meaning. It means to nearly fall over.
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 (BrE) than American English (AmE). It means the 'piece' of travel between 2 or more points. The word journey is very rarely used as a verb.