In the early 1300s Mansa Musa wrote;
“The ruler who preceded me did not believe that it was impossible to reach the extremity of the ocean that encircles the earth (meaning Atlantic), and wanted to reach that (end) and obstinately persisted in the design. So he equipped two hundred boats full of men, as many others full of gold, water and victuals sufficient enough for several years.”
Two hundred boats, boats of men and food and gold, left the coast of the Empire of Mali, travelling west to reach the end of the ocean. This was in the early 1300s.
Whether they knew there was a continent ahead, or thought they would circle the globe, they had the finance, knowledge, and technology to do this exploration.
Consider the wealth of this kingdom to be able to finance such an expedition.