Sound Source Localization (SSL) are used to estimate the position of sound sources. Various methods have been used for detecting sound and its localization. This paper presents a system for stationary sound source localization by cubical microphone array consisting of eight microphones placed on four vertical adjacent faces which is mounted on three wheel omni-directional drive for the inspection and monitoring of the disaster victims in disaster areas. The proposed method localizes sound source on a 3D space by grid search method using Generalized Cross Correlation Phase Transform (GCC-PHAT) which is robust when operating in real life scenario where there is lack of visibility. The computed azimuth and elevation angle of victimized human voice are fed to embedded omni-directional drive system which navigates the vehicle automatically towards the stationary sound source.
