Efficiently handle planning problems that include functions defined in sections without assuming the differentiability of functions that express problems, continuity, and continuity in space. For this reason, a nonlinear programming problem input unit that acquires a nonlinear programming problem, a provisional solution generator that uses a solution obtained in a region with a nonlinear programming problem as a provisional solution for a nonlinear programming problem, and a solution obtained in a region near the provisional solution A candidate solution generation unit that sets a solution candidate for a non-linear programming problem, a provisional solution update unit that updates the solution candidate as a provisional solution according to a comparison result between the provisional solution and the solution candidate, and an improvement degree or solution candidate of the provisional solution An end determination unit that determines the end of processing using at least one of the number of generations as a determination criterion, and a non-linear programming problem solution output unit that outputs a provisional solution.
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