I read this article (below) that gives tips for boondocking safely. I thought it was pretty good. I especially liked the simple but helpful tip to travel in pairs. You can never be too safe! Especially when you're out in the boonies.
http://www.campingroadtrip.com/how-to-boondock-safely
http://www.campingroadtrip.com/how-to-boondock-safely