Released in 1982, "Starfleet Voyages" was an expanded, but unofficial and unlicensed remake of Heritage Models' 1978 game "Star Trek: Adventure Gaming in the Final Frontier".
Moreso than it predecessor, "Starfleet Voyages" has the feel of the original Star Trek television series, with more of a focus on character development and exploration missions. New to this version were rules for skills and ship-to-ship combat (based on designer Michael Scott's earlier work, "Star Fleet Battle Manual").
There was only one release associated with "Starfleet Voyages", the initial boxset.