The correct option is 'a) travel'.
Translation:
Я собираюсь путешествовать в Испанию скоро.
Explanation:
The sentence requires a verb that indicates movement or going to a place. 'Travel' fits this meaning best, as it implies the act of going to Spain. 'Visit' could work, but 'travel' is more general and common in this context. 'Join' doesn't fit the meaning of the sentence.