To Escape
intransitive verb, ichidan verb
You've seen 逃げる and 逃す. This one is 逃れる. This one simply means to escape. So that's not too bad. The difference between this one and the other escapes is that it has to do more with luck.
のがれる
This is the same reading you learned for 逃す, so you should be able to read this word as well.
万が一ゾンビが実際に現れた場合を想定して、どうやってゾンビから逃れるのかを考えているんです。
I’m thinking about how to escape from zombies if they actually showed up.