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Optical phased arrays (OPAs), the optical counterpart of phased arrays at radio frequencies, can electronically steer an optical beam without any moving parts. To achieve a 180° field of view (FOV), the array emitters should be spaced a half-wavelength apart or less. However, a conventional OPA based on a waveguide grating array suffers from strong cross talk between adjacent waveguides when the pitch is a half-wavelength or less. Here, we theoretically describe and experimentally demonstrate a two-dimensional aliasing-free beam steering regime for an integrated OPA with the entire 180° FOV. We achieve this by using a half-wavelength-pitch waveguide array combined with a trapezoidal slab grating as a single emitter. Our OPA also features a low sidelobe level of <mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML" display="inline"> <mml:mrow class="MJX-TeXAtom-ORD"> <mml:mo><</mml:mo> </mml:mrow> <mml:mrow class="MJX-TeXAtom-ORD"> <mml:mo>−</mml:mo> </mml:mrow> <mml:mn>19</mml:mn> <mml:mspace width="thickmathspace"/> <mml:mrow class="MJX-TeXAtom-ORD"> <mml:mi mathvariant="normal">d</mml:mi> <mml:mi mathvariant="normal">B</mml:mi> </mml:mrow> </mml:math> while the beam is steered from <mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML" display="inline"> <mml:mrow class="MJX-TeXAtom-ORD"> <mml:mo>−</mml:mo> </mml:mrow> <mml:msup> <mml:mrow class="MJX-TeXAtom-ORD"> <mml:mn>40</mml:mn> </mml:mrow> <mml:mo>∘</mml:mo> </mml:msup> </mml:math> to <mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML" display="inline"> <mml:mrow class="MJX-TeXAtom-ORD"> <mml:mo>+</mml:mo> </mml:mrow> <mml:msup> <mml:mrow class="MJX-TeXAtom-ORD"> <mml:mn>40</mml:mn> </mml:mrow> <mml:mo>∘</mml:mo> </mml:msup> </mml:math> , breaking the trade-off between FOV and beam quality. The chip-based OPA with a large beam steering range and high beam quality provides a promising route for a compact, solid-state, cost-effective, and high-performance light detection and ranging system, enabling a wide range of classical and quantum applications.