Within the solar system you cannot really travel 'ahead' of a transfer orbit since it would have required you to have departed from a point in space ahead of the origin body (for example Earth) in it's solar orbit. It would be possible to fly approximate trajectories but they would be more costly in fuel.
Bigger problem is that they will only warn of objects moving in similar orbits*, which are the lowest threats as they have low relative velocities. The higher threat objects are traveling perpendicular to your orbit and keeping multiple outriders in a ring would require constant thrust as they would not be moving in a true orbits, with wider coverage requiring more fuel to maintain.
*a outrider ahead will potentially provide warning of a retrograde object but they are generally rarer than objects moving on eccentric but low inclination orbits.
If object detection is considered important a better solution is to place one or more mapping satellites in the volume of interest and let them locate all the objects over time. This involves far less capability from the mapping platform and means they are continually useful, including tracking hazards to earth or your destination.