Simon Winchester discusses how Cape Bojador [1] was impassible until 1443 (in his book Atlantic [2]) so it is unlikely that early voyages reached any further south along the coast of West Africa. During Roman times there were indeed canals to the Red Sea [3] and a robust international trade system as outlined in the Periplus of the Erythraean Sea [4].
[1] https://en.wikipedia.org/wiki/Cape_Bojador
[2] http://www.simonwinchester.com/atlantic
[3] https://en.wikipedia.org/wiki/Canal_of_the_Pharaohs
[4] https://en.wikipedia.org/wiki/Periplus_of_the_Erythraean_Sea