Much like other Star Trek series' each episode is more-or-less self contained, in that it has little to no effect on future episodes as they're exploring other worlds or space phenomenon, but there is one constant, they're trying to get home. As good as The Original Series or Next Generation were, they never had any underlying storyline as Voyager does.
I like the point of choosing Voyager for the journey, it's a ship that can just about manage the long distance at a good speed (other lesser space-craft in the Star Trek universe would be too slow making thier journey seem unrealistic and virtually unattainable) and the brilliant crew work well together.
But the best part of Voyager is that it shows that Star Trek is not JUST Enterprise (we have done three series' with Enterprise as the major space-craft so it's nice to see them move on, I recognise that Deep Space Nine had the namesake space station and the small craft Intrepid, and now there's Discovery with its namesake craft)
I enjoyed every episode of Voyager and though the storyline was well made, especially in the latter, Seven of Nine, seasons with the Borg.
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