If the child were moving at 0.9999c (which is less than 1.0000c) and the planet is 20 light-years away, then how could it take less than 20 years for the child to reach it? Let alone ~0.5 years?
EDIT: Here's an explanation from a friend:
light always travels at c even if you're already moving close to c
but it's impossible for anything to travel faster than c
so if you're traveling at .9999c
the passage of time must be scaled for the traveler
to make light on the ship appear to move at c
even though it's only moving at 1-.9999c
That's... awesome.