Mobile robot motion planning aims to find the best and collision free path in complex environment while considering robot kinematics, dynamics and time constraints. In recent years, motion planning algorithms are gradually developed towards efficient and real-time generation of high-quality executable paths. A series of motion planning algorithms based on kinematic constraints were reviewed and their theoretical advantages and disadvantages were analyzed and compared; the real-time performance, optimization performance and dependence of the algorithm on the environment model were analyzed; motion planning was divided into front-end path search and back-end trajectory optimization; the research status of motion planning algorithm was summarized.