The function uri_escape takes an optional second argument that's a list of all characters that you want to encode. The following should work for you:

#!/usr/bin/perl -w
use strict;
use URI::Escape;
my $cgi_chars  = '\x00-\x29\x2b\x2c\x2f\x3a-\x40\x5b-\x5e\x60\x7b-\xff
+';
my $bad_chars  = '^%$&=';
print uri_escape( $bad_chars, $cgi_chars );
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Cheers,
Ovid

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