"Perpetual Motion" is a bit of a misnomer. The term should be "perpetual force".
If it were "perpetual motion", then everything would constantly be in relative perpetual motion until death of the universe. For example: despite me sitting motionless relative to my computer, I am moving relative to the moon, or the sun, or pretty much everything else in the universe.
I don't know of any indication that the motion of http://en.wikipedia.org/wiki/Voyager_1 will ever stop.