Charles Darwin was an English naturalist who established the theory of evolution by natural selection. Through his voyage on the HMS Beagle and observations of species on various islands, Darwin began to believe that species evolved over time through natural selection, where favorable variations are preserved and unfavorable ones are destroyed. In 1859, he published On the Origin of Species, which presented his theory that all life on Earth evolved over time from common ancestors through this process. Though controversial at the time due to its conflict with religious beliefs, Darwin's theory of evolution by natural selection became widely accepted and profoundly influenced scientific thinking.