I recently read "Delta-v" and the sequel "Critical Mass: A Novel" by Daniel Suarez. They're very much fiction but there is a certain amount of science underpinning the arguments and I enjoyed that aspect. And the author even states that he's trying to get across, with solid arguments, why humanity should begin planning asteroid mining ASAP. In brief, the arguments are:
Firstly we're now at a point where we have lots of cheap energy available, principally chemical. Depending on many factors it's conceivable that we are in fact at or near peak human energy output (e.g. WW3 or civilization collapse - the next iteration of civilization won't have so much cheap oil to exploit).
Secondly LEO is not yet full of junk, meaning that it's trivial to find launch windows to LEO and beyond. That could easily change very much for the worse in a relatively short time (I infer decades from the books).
Finally it's unrealistic to expect us to colonize the Moon or Mars using only Earth-mined materials. You can launch a spacecraft to Mars easily, but to launch a small city's amount of construction equipment and raw materials is beyond our capabilities.
Conclusion: now is the best time to mine asteroids. We can do all of the processing and much of the construction in LEO (or even better at Earth-Moon or Earth-Sun lagrange points) and then, with relatively low delta-v, we'd actually have a chance of becoming an interplanetary species!
But, the novels warn, the window of opportunity will eventually ("soon") close. Well worth the read.
Maybe someone else more familiar with the arguments, who has also read these novels, can offer a critique?