A control information generation device includes: a coordinate information acquisition unit configured to acquire coordinate information on a plurality of passing points in a path; a movement amount calculation unit configured to set a repulsion force applied to adjacent passing points among the passing points, and obtain, when the set repulsion force is applied to the passing point, a movement amount of the passing point from a position before the repulsion force is applied to a position where the passing point is in dynamic equilibrium by calculation for the plurality of passing points; a path update unit configured to update the path by correcting coordinates of the plurality of passing points according to the movement amount; and a control information output unit configured to output information on the updated path.