A science-fiction author, found dead after he went missing from his home, has been described as a "gentle, loving and wonderful" son by his family.

An appeal was first launched for Robert Storey from the Canterbury Road area of Hawkinge on Thursday night after he was last seen that morning.

Twenty-four hours later, at around 9am on Friday, the 42-year-old’s body was found at the side of a cliff in the Folkestone Warren near Capel.

His father Terry, 71, said: “He was our best friend. He was a wonderful son - it’s heartbreaking.”

According to his Amazon biography, Mr Storey "dreamed about becoming a fiction writer" as a young boy.

However, his journey into writing was an escape "in his darkest hours" after he was left with a debilitating condition called dystonia - a neurological movement disorder syndrome - brought on by a few minor car accidents some years earlier.

His father said his condition caused him great distress: “It came on over a period. He had terrible pains in his neck. He researched many things to make it better.”

As a result, he struggled with his mental health problems.

Terry said: “That last day he couldn’t cope any more. We did everything we possibly could to help him, but we couldn’t in the end.”

Officers remained at the scene in Folkestone on Friday, alongside paramedics and Kent Fire and Rescue Service where his body, along with a car, was found.

A police spokeswoman said the death was not being treated as suspicious.

The Liverpool FC supporter had previously gone missing on Boxing Day last year but was found the following day.

Mr Storey said: “He was a very gentle and kind person. We could all talk about anything.

“He loved playing with our grandchildren. He would help anyone. We was multi-talented - he did beautiful sculptures. His artistic ability was amazing.”

Robert Storey, originally from Barking in east London, studied at the Queen Mary University of London where he received an B.Sc. in Mathematics & Statistics with honours in 1998.

He worked first as a stockbroker in Canary Wharf, a job he described as a ‘rat race’, then at a construction company before his health deteriorated and left him housebound for the best part of a decade.

He published six books, his first being 2040, which he wrote in 2013 to launch his science-fiction series Ancient Origins.

His father added: “He said when he was writing ‘I think my bad back is the best thing that’s ever happened to me!’ He changed his life. Some readers said that the books helped them too. That was worth more than money to Robert.”

"We did everything we possibly could to help him, but we couldn’t in the end...” - Terry Storey

He had a passion for science, archaeology and films. He also enjoyed riding his bike and made it over to Holland on a couple of occasions with a friend. His dad continued: “He was super fit. The endorphins used to kick in and ease the pain.”

He did not return to his flat in Canterbury following this first disappearance at Christmas and remained with his parents in Hawkinge, where he was cared for and visited by crisis teams after he had self-harmed.

His dad said the care the family has received could not be faulted: “We couldn’t have bought the care the crisis team have provided. They have been tremendous right from day one. They’re even coming round to support us now. The police were also brilliant and so compassionate.”

Mr Storey leaves his father and mother Maureen, 70, sister Rachel, 46, and her three children.

For confidential support on an emotional issue, call Samaritans on 116 123 at any time. You can also click here to access the Release the Pressure campaign.