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This work presents a novel technique that performs both orientation anddistance localization of a sound source in a three-dimensional (3D) space usingonly the interaural time difference (ITD) cue, generated by a newly-developedself-rotational bi-microphone robotic platform. The system dynamics isestablished in the spherical coordinate frame using a state-space model. Theobservability analysis of the state-space model shows that the system isunobservable when the sound source is placed with elevation angles of $90$ and$0$ degree. The proposed method utilizes the difference between the azimuthestimates resulting from respectively the 3D and the two-dimensional models tocheck the zero-degree-elevation condition and further estimates the elevationangle using a polynomial curve fitting approach. Also, the proposed method iscapable of detecting a $90$-degree elevation by extracting the zero-ITD signal'buried' in noise. Additionally, a distance localization is performed by firstrotating the microphone array to face toward the sound source and then shiftingthe microphone perpendicular to the source-robot vector by a predefineddistance of a fixed number of steps. The integrated rotational andtranslational motions of the microphone array provide a complete orientationand distance localization using only the ITD cue. A novel robotic platformusing a self-rotational bi-microphone array was also developed for unmannedground robots performing sound source localization. The proposed technique wasfirst tested in simulation and was then verified on the newly-developed roboticplatform. Experimental data collected by the microphones installed on a KEMARdummy head were also used to test the proposed technique. All results show theeffectiveness of the proposed technique.

Realtime Active Sound Source Localization for Unmanned Ground Robots Using a Self-Rotational Bi-Microphone Array