TDE sign based homing algorithm for sound source tracking using a Y-shaped microphone array

Sound source localization, tracking and homing in play an important role in human-robot interaction. The frequent tracking of a moving acoustic source is computationally expensive for any real time application. In this paper, we propose a simple algorithm based on the sign of time delay of arrival estimation (STDE). Also a special Y-array microphone is designed which is well suited for real time tracking and homing in application. Compared to the other conventional planar microphone arrays, Y-array has the unique property of proximity detection of the acoustic source. The STDE algorithm along with the Y-array is used to estimate the gross source region successively for real time robotic homing in applications. Experiments conducted in ane-choic and varechoic enclosures show that the proposed algorithm works accurately in low and moderate reverb conditions of upto RT60<;800ms.