The optimization process has been applied in the present study for a collision-free self-directed ground-Based traffic system. An algorithm has been proposed, called MIPATS (Mixed integer programming Algorithm for self-directed ground-based Traffic system), which makes the high-performance crossway crossing discrete-time trajectory for every transport. The Constraints are very well designed and the process has been optimized to make collisions free crossway crossing system. The potency of the suggested MIPATS is measured through a protracted model using a microscopically dealings simulator, ANYLOGIC. The pretending results show that MIPATS performance is better traffic throughput compared to a general traffic light model.