diff --git a/PathPlanning/LQRRRTStar/animation.gif b/PathPlanning/LQRRRTStar/animation.gif
new file mode 100644
index 00000000..eaa6d208
Binary files /dev/null and b/PathPlanning/LQRRRTStar/animation.gif differ
diff --git a/PathPlanning/LQRRRTStar/lqr_rrt_star.py b/PathPlanning/LQRRRTStar/lqr_rrt_star.py
index 52fdeaf5..1eb7bb6e 100644
--- a/PathPlanning/LQRRRTStar/lqr_rrt_star.py
+++ b/PathPlanning/LQRRRTStar/lqr_rrt_star.py
@@ -30,7 +30,7 @@ class RRT():
     """
 
     def __init__(self, start, goal, obstacleList, randArea,
-                 goalSampleRate=10, maxIter=100):
+                 goalSampleRate=10, maxIter=200):
         """
         Setting Parameter