In this paper, we introduce a new approach of mobile robot localization with microphone array and sound sources using pulse compression. The proposed localization method utilizes sound sources as landmarks, which are detected by the microphone array. Each sound source produces chirp signals with respective frequency bands, which sweep 2 kHz in 0.1 s. Pulse compression was executed for each recorded sound to enhance and identify the direction-of-arrival (DOA) of each sound source. The proposed method was evaluated by computer simulation. In the simulation, the localization error of the proposed method was approximately 51% lower than the method which separates sound using band pass filter. From the result, the proposed method indicates the robustness under the disturbances. This result contributes to the use of this method in the realistic, noisy environment.
