An auditory system of robot for sound source localization based on microphone array

The mammalian used to direct its vision field to a sound source by its auditory system. So an auditory system of robot for sound source localization is proposed in this paper. Through using the four-element microphone array, the time differences of arrival can be achieved and the sound-source target can be localized. The experiment system is introduced. Then the localization algorithm based on the spherical wave model of propagation is developed in this paper, and the calculation error also be discussed. The experiment results show that the algorithm can accurately calculate the azimuth of the sound source and the localization system can effectively lead the robot to the direction of the target.