Can anyone recommend some good English language books on European exploration of Africa and beyond during the 1400s and 1500s? I realized that while I'm aware in general of Henry the Navigator and the related period of exploration, I know very little in the way of specifics. I'm hoping to find something that could cover the exploration of the African coast and early ventures in India and SE Asia. In other words, early European exploration that isnt focused on the Americas, and in particular any details possible on exploration prior to 1492.

Videos or podcasts would also be welcome, if anyone has suggestions.