In this study, a path for a tilt bicopter is produced based on a rapidly exploring random tree algorithm. For this purpose, first, the six degrees of freedom equations of motion are derived extracted by extracting external forces and moments using the Newton-Euler relations. To track the designed path and ensure the stability of the closed loop system, the optimal controller of the Linear Quadratic Regulator (LQR) is applied using four control inputs including the angular speed of the two rotors and the tilt angles. Since, the proposed controller needs all the states of the UAV; the Attitude Heading Reference System (AHRS) is implemented in order to estimate the roll, pitch and yaw angles of the bicopter. Then, the rapidlyexploring random tree algorithm is employed for optimal path planning of the UAV in the presence of obstacles. The simulation results indicate the proper performance of the proposed structure to guide and control the tilit-bicopter during the flight. Additionally, the results of the linear quadratic regulator controller with a proportional-integral-derivative structure were compared, and the cost function of the squared error improved by 66.34%.