In this study, we proposed microphone array and algorithm for sound source localization based on GCC-PHAT for the robot searching victims in a narrow space. Through frequency domain analysis, we designed filter to make algorithm react only to the sound with a human voice frequency. Additionally, calibration algorithm was integrated to solve the problem of the update cycle of result value becoming very short when passing through the filter, presenting difficulty in checking the value. Results obtained through experiments verified the performance of the proposed microphone array and sound source localization algorithm.