A learning method explores, in a block space, a global path from a sub initial point to a sub goal candidate region for movement of an agent, and limits, based on the global path, an exploring space to thereby determine a limited space in the exploring space. The method arranges a sub goal in the limited space in accordance with a position of a goal point, and transforms absolute coordinates of each of at least one obstacle and a sub goal in the limited space into corresponding relative coordinates relative to a position of an agent located in the limited space. Then, the method explores, in the limited space, a target path from the initial point to the sub goal.