Before revision: If the next waypoint or destination is within the arc defined by the no-go zone from the craft's current position, then it must perform a series of tacking maneuvers to get there on a dog-legged route, called beating to windward.
After revision: If the next waypoint or destination is within the arc defined by the no-go zone from the craft's current position, then it must perform a series of tacking maneuvers to get there on a zigzag route, called beating to windward.