"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."
This poem, written in the 14th century, was about an allegorical journey through hell (or inferno), representing the Human journey of the soul toward the divine, according to the Star Trek Encyclopedia (4th ed., vol. 1, p. 363).