How do you return to the bat cave and formulate anti-titan compound in Batman Arkham Asylum?

In Batman: Arkham Asylum, to return to the Batcave, you need to progress through the game until you unlock the Batcave as a location. After accessing the Batcave, you will find the anti-titan compound formula as part of the story progression. You can formulate the anti-titan compound by interacting with the appropriate equipment in the Batcave, typically after gathering the necessary ingredients throughout the game. Follow the on-screen prompts to complete the process and continue your mission against the Titan-infused enemies.