Eventually yes the world will end, because the Sun will not last forever. Eventually the sun will start to swell until it is as large as the orbit of Mars, and so will have swallowed the Earth. Do not worry though, there is a good 4 billion years away!
This is a good picture showing the life span of the Sun, so you can see how long the Earth has. By the time the Sun is a Red Giant, it will have swallowed up the Earth.
However, humans might die out before then due to some other catastrophe like a meteorite hitting the Earth, or some other thing. But it’s very unlikely to happen in your lifetime or mine.
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