diff --git a/PathPlanning/VoronoiRoadMap/dijkstra_search.py b/PathPlanning/VoronoiRoadMap/dijkstra_search.py
index 503ccc342e..68df9e5b81 100644
--- a/PathPlanning/VoronoiRoadMap/dijkstra_search.py
+++ b/PathPlanning/VoronoiRoadMap/dijkstra_search.py
@@ -59,7 +59,7 @@ def search(self, sx, sy, gx, gy, node_x, node_y, edge_ids_list):
                 break
             elif not open_set:
                 print("Cannot find path")
-                break
+                return [], []
 
             current_id = min(open_set, key=lambda o: open_set[o].cost)
             current_node = open_set[current_id]
diff --git a/tests/test_voronoi_dijkstra_search.py b/tests/test_voronoi_dijkstra_search.py
new file mode 100644
index 0000000000..ee043b675a
--- /dev/null
+++ b/tests/test_voronoi_dijkstra_search.py
@@ -0,0 +1,18 @@
+import conftest  # Add root path to sys.path
+from PathPlanning.VoronoiRoadMap.dijkstra_search import DijkstraSearch
+
+
+def test_unreachable_goal_returns_empty_path():
+    node_x = [0.0, 1.0, 2.0]
+    node_y = [0.0, 0.0, 0.0]
+    edge_ids_list = [[1], [0], []]
+
+    rx, ry = DijkstraSearch(False).search(
+        0.0, 0.0, 2.0, 0.0, node_x, node_y, edge_ids_list)
+
+    assert rx == []
+    assert ry == []
+
+
+if __name__ == '__main__':
+    conftest.run_this_test(__file__)