This paper provides a comprehensive survey of gross-motion planning, a critical area in robotics research. It discusses the complexity of motion planning and its impact on the development of practical algorithms. The paper covers motion planners for point robots, rigid robots, and manipulators in various environments, including stationary, time-varying, constrained, and movable-object scenarios. Key issues in motion planning are explained, and recent approaches and their performances are briefly described. The paper also explores possible future research directions in the field. The content is organized into sections that cover the nature of motion-planning problems, basic issues and steps in motion planning, and a detailed survey of recent work in different categories of motion-planning problems. The paper emphasizes the importance of collision avoidance and efficient motion planning in automated systems, such as highly automated factories where mobile robots must navigate and interact with other robots and objects.This paper provides a comprehensive survey of gross-motion planning, a critical area in robotics research. It discusses the complexity of motion planning and its impact on the development of practical algorithms. The paper covers motion planners for point robots, rigid robots, and manipulators in various environments, including stationary, time-varying, constrained, and movable-object scenarios. Key issues in motion planning are explained, and recent approaches and their performances are briefly described. The paper also explores possible future research directions in the field. The content is organized into sections that cover the nature of motion-planning problems, basic issues and steps in motion planning, and a detailed survey of recent work in different categories of motion-planning problems. The paper emphasizes the importance of collision avoidance and efficient motion planning in automated systems, such as highly automated factories where mobile robots must navigate and interact with other robots and objects.