In this thesis, a computationally efficient method for detecting a whistle and capturing it using a 4 microphone array is proposed. Furthermore, methods are developed to efficiently process the data captured from all the microphones to estimate the direction of the sound source. The accuracy, the shortcoming and the constraints of the method proposed are also discussed. There is an emphasis placed on being computationally efficient so that the methods may be implemented on a low cost microcontroller and be used to provide a heading to an Unmanned Ground Vehicle.