A design of guidance system for wheeled mobile robot based on sound localization was proposed.The microphone array should be placed according to the four element cross array and coordinate system was established. DSP was used as the main controller. Signals from the microphone array were acquired through FPGA.Time difference of arrival(TDOA) algorithm was used to measure the distance and angle of the robot with acoustic beacon. In known environment it realized the guidance of the wheeled robot.The experiments showed that the system had good real time performance,and was simple and easy to use with very im portant practical value.