It can be fiddly sometimes.....May I suggest you play with a blank map.... Put one soldier down ...Make a path ....then place your start position far away....
Try that ...Then add another Soldier...Add a new path....( It will be a different colour for him ) then try again...
I have noticed if you are a vast distance away they stand still .... but if you move closer they switch on and follow the paths. then as you get really clse they detect you...
Once you work out the little tantrums of the waypoints you should be able to work out what's going wrong with the escape map...I hope
EDIT...
Ah hang on I see you have done this.....Sorry I will have a go myself