Charles Darwin developed the theory of evolution by natural selection based on observations and evidence from his voyage on the HMS Beagle. He proposed that (1) natural variation exists between individuals of a species, (2) there is a struggle for existence as members of a species compete for limited resources, and (3) the individuals best suited for their environment (the fittest) will survive and pass on their traits, leading to the evolution of species over time. Darwin provided evidence from fossils, biogeography, embryology, and homologous structures to support his theory of common descent and evolution.