This article describes the system of unmanned urban passenger transport based on mobile autonomous robotic vehicles. The article describes an algorithm for drawing up a non-conflicting plan of passenger transportation on demand. The relevance of this system is conditioned changing social and economic conditions in the large cities, as well as modern features of scientific and technical progress. This paper presents a study aimed at improving the quality and efficiency of passenger transport in the "loaded" urban transport environment. It describes a mathematical model of computer control unmanned transport system. As a result of the study an algorithm for organization passenger transportations using unmanned vehicles has been proposed. The proposed model is adaptive to changes of road conditions and is intended to enhance the mobility and flexibility of passenger transport in the context of high traffic flows. The value of the study is that it brings economic and environmental benefits, since the method of transporting passengers by unmanned vehicles provides a high throughput of urban transport systems with a high level of passenger comfort.