  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.
