计划 can be used both as verb and noun, it’s using like “ I’m planning sth.” or “ I have a plan”. 安排 is more formal and kinda like put something into ur schedule or allocate someone’s issues. 打算 is the very informal one that people always use in oral communication, it mostly the same as “ I’m going to...” and “ I gotta...”. Both the first &second ones can be used as written language.
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