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 anechoic and varechoic enclosures show that the proposed algorithm works accurately in low and moderate reverb conditions of upto RT60