Beginner is completely lost with forecasting

Sorry if this is too trivial for this sub, but I’m a noob so here I go: I try to train an Odometry-model for my 4-wheeled robot using Tensorflow. I have my dataset with the sensordata (wheelencoders, acceleration) and X, Y, speed_x, speed_y as my labels.

So far so good, but because my algorithm needs the predictions of the timestep before as inputs to make the next prediction, I need: a RNN? Or something else for Time series prediction? I’m lost, please help me figure out the method I need to look into for this. Cheers