The main question is about range space and homotopy, but I also have another two small questions.
- Are $f$ and $h$ from $\Bbb R \to \Bbb R^2-\{0\}$?
- What are the range spaces of $f$ and $h$? $[0,1]$? How can we determine $f$ and $h$ are not homotopic from the range space? I think if we graph $f$ and $h$ separately, the images look the "same".
- What's the meaning of those arrows on the graph of Figure 51.4? Why is the direction of $f$ different from $h$?
Edit: What does the straight-line homotopy look like between $f$ and $h$ if we consider the space $\Bbb R^2$? The line segments which is parallel to the $y$-axis and bounded by the circle?

First, note that the written example corresponds to Figure 51.4 and seems to have nothing to do with Figure 51.3.
In general, determining which paths are homotopic in a particular topological space is a difficult question; your textbook likely has at least one chapter dedicated to the topic.