Designing lemniscates shape trajectory

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Maria
Maria 2014-7-10
How to design inputs as lemniscates trajectory for a mobile robot trajectory in the Matlab as in the figure below
I designed a circular trajectory with inputs for velocity 1 m/s and angle (2*pi/-m)*t , where m is slope and t is time as in the figure below, so what will be the velocity and angle inputs for lemniscates trajectory ?

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