A guidance scheme for mobile sensor-actuator networks is studied under the condition of augmented vehicle dynamics and guaranteed collision avoidance. The mobile sensor-actuator networks are used to obtain measurements from distributed parameter systems by sensors and dispense control signals to spatially distributed process by actuators. A new guidance scheme is provided for each of mobile actuators which cooperatively control the distributed parameter systems and are guaranteed collision avoidance based on the Lyapunov stability theory. Simulation study shows the effectiveness of the proposed method.