The government says they will be piloted in three new neighbourhoods which will have less-crowded roads designed to accommodate the buses.
The buses will be used to help residents travel in their communities, and to nearby train and bus stations.
Densely-populated Singapore hopes driverless technology will help the country manage its land constraints and manpower shortages.
"The autonomous vehicles will greatly enhance the accessibility and connectivity of our public transport system, particularly for the elderly, families with young children and the less mobile," the Transport Minister Khaw Boon Wan said.
The autonomous buses are expected to complement existing manned bus services, and will initially operate during off-peak hours.
Additionally, the government plans to let commuters hail on-demand shuttles using their mobile phones.