Photonic crystal waveguide slow-light grating emits a free-space optical beam and steers it widely by changing the optical wavelength or waveguide refractive index. In the reverse process, returned light is coupled into the device again. We have proposed to use this optical transmission and reception antenna as a beam scanner for light detection and ranging (LiDAR). Ideally, a large-aperture antenna can narrow the transmission beam and enhance the reception efficiency. Actually, however, the transmission and reception performance is not scalable owing to waveguide loss even though the waveguide is simply lengthened. A serial array configuration in which the waveguide is divided into multiple antennas is effective for mitigating this problem. In this study, we fabricated such a device using Si photonics technology and obtained a small beam divergence of 0.02° at a telecom wavelength. Then, we observed the ranging operation by adding an optical setup of frequency-modulated continuous-wave (FMCW) LiDAR and confirmed that the divided antenna device improved the reception intensity by 12 dB. Moreover, we fabricated a FMCW LiDAR chip in which the serial array antennas were integrated in parallel with switch trees and Ge photodiodes and obtained point cloud images by two-dimensional beam scanning.