Starting in the early 19th century, European land holdings in Africa began to shift and increase.Focus on Africa was limited to the transatlantic slave trade. From the 15th-19th century, little exploration of the interior of Africa was done by Europeans.Major exploration by Europeans, particularly of the coastal territories of African, began in the Age of Discovery in the 15th century, led by Portuguese explorers, most notably Prince Henry, known as the Navigator.The geography of North Africa has been reasonably well-known since classical antiquity in Greco-Roman geography.
