"In the middle of the journey of our life
I found myself astray in a dark wood
where the straight road had been lost."
Chakotay agreed with Dante that if you always see the road ahead of you, it is not worth the trip. (VOY: "Shattered")
The particular quote above is from the translation by Seamus Heaney. The version translated by John Ciardi reads: "Midway upon the journey of our life I found myself within a forest dark, For the straightforward pathway had been lost."