a means for mine avoidance that enables a battle group commander to rapidly detect , classify , and identify mines , and form a tactical picture of mined areas . the system is enabled by a graphical user interface which generates a display of the minefield and an avoidance path which is calculated by a rapidly - explored random trees algorithm interacting with algorithms defining avoidance object spaces inserted by an operator in two or three dimensions and transit vehicle characteristics . the apparatus enables a method which establishes the parameters of an area representing a minefield . the area is then populated with obstacle spaces whose areas are functions of the probability of the existence of a mine and through which an avoidance route through the minefield may not pass . the start and end points of the avoidance route are entered on a graphic display of the minefield and an avoidance path there between is calculated and presented as an avoidance route .