First thing is to take a good look at the ground from the enemies point of view. Once you can take a stab at where he will be putting his MGs, squads etc based on dominating ground, enfilade and your objectives, you can develop a "RECCE" plan.
The Recce (or reconaisance) plan gives locations which need to be "checked out". How you check them out is a judgement call. Spec fire, a platoon (I wouldn't use anything less except in a SMALL scenario) or recce vehicle can all be used in conjunction with "overwatch" and smoke.
The key is determining what will conduct the recce and which route it will take. A covered approach as close to the Area of Interest (or AOI) is best but sometimes the enemy will tie in his flanks making that difficult. Don't be afraid to use smoke and indirect fire in high suspect ground as it will shake up the troops laying the ambush and may cause them to trigger early or if you are really lucky, run away.
Hope this helps.