How does the doctrine of Papal Infallibility account for Peter's error?
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As this question explains, the Pope is not considered infallible every time he speaks, but only when he speaks ex cathedra. Essentially this means only when he makes a deliberately definitive pronouncement on a matter of doctrine. The quote you give is therefore not relevant. Even if Peter were considered a Pope at this point, the incident described would not invalidate papal infallibility.
The doctrine of papal infallibility is not founded on biblical texts specifically. It is founded on the (biblically supported) doctrine that the church is the custodian of truth, and that St. Peter was appointed by Christ as head of it. This article gives much more detail.
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Here are some biblical sections (NIV):
I will need to go into more detail later but basically, the Holy Spirit is expected by Jesus to help protect the church remain faithful standing against the forces of Hell.
Now, this doesn't mean the Pope will be correct if he is doing math problems. He is infallible in limited instances, and has not been used too often.
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