Agricultural peoples simply out-populated their nomadic, hunter-gatherer brethren. Both groups of populations stole from the other (and within their group) but agricultural people could raise more soldiers. Nomadic warriors were individually superior (better nutrition, more battle experience, more likely to have up-to-date battle technologies due to mobility) but were no match when outnumbered 20:1 by armed peasants. Also, to rob a farming population, one has to leave some of them alive, and that means that, 14 years later, they have a fresh crop of soldiers.
It's (probably) true that the average quality of life declined during 15-4k BC as agriculture spread throughout Eurasia and North Africa-- agriculture made severe and persistent social inequalities possible-- but the quantity grew, as did "energy capture", or the ability of humans to draw energy out of the environment. Thus, agriculture won. It couldn't have happened any other way. Also, it wasn't a single choice that happened suddenly. The transitions from nomadic to semi-nomadic to semi-agricultural to fully agricultural lifestyles happened over centuries. Agriculture probably began as a "last resort" in event of an ecological catastrophe (Younger Dryas) that depleted game but, as rising human population became a "constant catastrophe", overtook hunting and gathering outright.
At any rate, until one has agriculture (and religion, as a motivating force) one is very unlikely to see the written word, which is a necessary precursor for modern society. Whether one is better off in 15000 BC vs. 1500 AD, I would honestly call a toss-up, but I'd much rather be alive in 2011 AD than 15000 BC.