Need help on creating an algorithm that follows a path, such as picture down below. I'm not sure how I would find a starting point or how to setup a path following program using C++. An example would be appreciated.

need an output to display

t0 | xt0, yt0 | xr0, yr0 | vlr0, vrr0 | e0 t1 | xt1, yt1 | xr1, yr1 | vlr1, vrr1 | e1 t2 | xt2, yt2 | xr2, yr2 | vlr2, vrr2 | e2

t is the running timext, yt is the target position estimated from the desired trajectoryxr, yr is the actual position of the robotvlr, vrr is the left and right instantaneous speeds of the robot wheelse is the current error in the robot position

3-09 2-0" R3-6 2-0" 2-0" 3-0" 5'-0