Rather than using google to find answers for "How to avoid IDS", turn it around. Search for IDS and read about the various IDS solutions. To answer this question, you need to first define what is meant by IDS. Not what the letters stand for, but what you understand the term refers to and the main techniques used. You will find these fall into a few typical types - for example, network/firewall IDS systems which can do things like deep packet and protocol inspection, suspicious connection patterns and port scanning detection, etc and OS IDS which look for unusual processes, filesystem changes, unusual network activity etc and application IDS which might monitor connections, data inputs, etc.
Once you have a clear definition, then read about the various techniques which fit with your definition. Then consider how you might be able to defeat those techniques.
As your question refers to discussing how YOUR exploit can be modified to avoid detection, it can be assumed you have a specific exploit. Look at how the various IDS you find could detect your exploit and then let your imagination fly. For example, if your exploit makes multiple connections, you might add a delay between each connection to defeat an IDS which looks for high levels of connections from an IP over a short period or you might change your exploit to use a different transport protocol that has a high level of traffic, such as http or maybe you can disguise it as DNS traffic etc.
The answer really depends on your exploit. To provide a good response, you will need to know which IDS techniques would detect your exploit.