Abstract: A computer-implemented method for safely routing a soldier to a destination on the battlefield. The method includes a Threat Analyzer (100) for assessing threats to the soldier, a Graph Builder (102) for building a graph representing the battlefield, a Route Generator (104) for generating a route that avoids the threats, and a Route Presenter (106) for guiding the soldier along the route. The Threat Analyzer (100) includes an Enemy Analyzer (200) for determining the attack range of enemy units and an Obstruction Analyzer (202) for detecting obstructions in aerial imagery. The Graph Builder (102) includes a Cost Evaluator (712) that takes into account traversal speeds for soldiers across various types of terrain. The Route Presenter (106) overlays the route on live video in the soldier's heads-up display.