Sound source localization system based on mobile robot

The method of auditory system design based on time difference is proposed. According to the special character of sound signal and basic need of collection technology, it had been explored to the microphone choice and the signal pretreatment. Sound source position is calculated by the tetrahedron array of four microphones, cross-correlation method is used to count delay. Experiment results show that the design can make the robot locate the azimuth of the sound source accurately and is practical enough for real-time operation.