Which of the periods of history stirred Europe's interest in exploring?

The Age of Discovery, primarily during the 15th to 17th centuries, significantly stirred Europe's interest in exploration. Motivated by the desire for new trade routes, wealth, and the spread of Christianity, European powers like Spain and Portugal led expeditions across the oceans. Innovations in navigation technology, such as the astrolabe and improved maps, facilitated these voyages. This period ultimately resulted in the establishment of overseas empires and significant cultural exchanges.