This paper addresses the problem of simultaneous path following control, obstacle avoidance and collision free for coordinated multiple nonholonomic autonomous vehicles under formation constraints. Global heading guidance design is highlighted in individual path following and augmented for obstacle avoidance between vehicles and obstacles. Within a leader-follower framework, the geometric formation is guaranteed by speed adaptation of individual path following control, and collision free among vehicles is also achieved by trimmed heading guidance. Simulation results illustrate the efficiency of the guidance based control design.