diff --git a/PathPlanning/LQRRRTStar/lqr_rrt_star.py b/PathPlanning/LQRRRTStar/lqr_rrt_star.py
index 0ed08123ea..9cbbeb2b57 100644
--- a/PathPlanning/LQRRRTStar/lqr_rrt_star.py
+++ b/PathPlanning/LQRRRTStar/lqr_rrt_star.py
@@ -190,7 +190,7 @@ def steer(self, from_node, to_node):
 
         px, py, course_lens = self.sample_path(wx, wy, self.step_size)
 
-        if px is None:
+        if not px:
             return None
 
         newNode = copy.deepcopy(from_node)
diff --git a/tests/test_lqr_rrt_star.py b/tests/test_lqr_rrt_star.py
index 444b4616b8..d053934589 100644
--- a/tests/test_lqr_rrt_star.py
+++ b/tests/test_lqr_rrt_star.py
@@ -10,5 +10,19 @@ def test1():
     m.main(maxIter=5)
 
 
+def test_steer_handles_failed_local_planner():
+    planner = m.LQRRRTStar(
+        start=[0.0, 0.0],
+        goal=[1.0, 1.0],
+        obstacle_list=[],
+        rand_area=[-1.0, 1.0],
+    )
+    planner.lqr_planner.MAX_TIME = 0.0
+
+    result = planner.steer(planner.start, planner.end)
+
+    assert result is None
+
+
 if __name__ == '__main__':
     conftest.run_this_test(__file__)