Abstract: Provided is a technique for generating a movement plan rapidly and at a relatively light memory load, even for a complicated task, while guaranteeing executability in a real environment. A movement planning device according to one aspect of the present invention uses a symbolic planner to generate an abstract action sequence including one or more abstract actions that are arranged in the order of execution. The movement planning device: uses a motion planner to generate, from each abstract action and in the order of execution, a sequence of movements; and determines whether the generated sequence of movements can be physically executed by a robot device in the real environment.