T his paper discusses about the collision detection algorithms used in Robotics. Classical methods were based on bounding volumes which were not suitable for real environment. Hence, new algorithms and technologies are implemented to improve the "Motion planning" process. Also a few optimizations have been made in classical methods like optimized spatial hashing technique and greedy pseudo triangulations. Latest projects and softwares used for this purpose have also been discussed. HAPTICS and GENETIC algorithms play an important role in this area. Moreover effort has been made to accelerate the performance of earlier methods using high speed graphic hardware and pipelines. And also a further research has been made on SEMIDEFINITE PROGRAMMING (A new form of optimization technique).