I have hunted Antelope in Wyoming the last 4 years. Find an area where there is a likely chance to draw if you want to hunt in 2017 (see the draw statistics page). There is a ton of public land in the south central (red desert) and west. The units in the eastern part of the state have more difficult access and usually have leftover tags you can buy. Problem with these units is that land access is VERY difficult. Any more, ranchers are charging $500 per hunter and up for trespass fees and limiting your time to hunt (to get more people through and more revenue). The eastern part of the state is highly developed for energy production, so if you are looking for a wilderness adventure, go west. There are lots of mapping tools and information on line. Also, BLM maps ($6) so you can find public land easily.
As far as a guide, you really don't need one. I have never hired a guide as I prefer discovery, and to succeed or fail on my own. My first hunt in Wyoming was DIY without having ever been to the state to hunt. Pronghorn were over every ridge and not hard to find. Quality bucks are everywhere with a few booner bucks thrown into the mix. You can also grab doe tags over the counter to fill the freezer and keep your boys engaged with a kill while you scout for your buck. None of my hunts took more than 2 days to fill my tags. Spot and stalk in the wide open spaces is a blast and helps kids develop core hunting skills.
My only last consideration is what part of the season is best to hunt. I have friends that insist on hunting the opener, but hunters are everywhere driving around, shooting, and pushing the antelope all over the place. That first week, you will be competing with other hunters scouting the same herds. It can be frustrating (if not a safety concern), and for teaching kids, not the best environment. Lots of sloppy hunting to witness, and you get a sense that you should shoot the first buck that comes along or somebody else will. My preference is to hunt the second weekend into the second week or later. After that first week, there's not much competition, antelope are less pressured and go back to more normal behavior. Big bucks come out of hiding and return to their herds. In South Dakota, I used to go on the opener and have had the buck I was scouting shot out from under me as I was looking at him through my scope. Swore after that I would avoid the opener and have not regretted that decision.