While not well referenced, Asteroids: A History is a well done layman's account of its subject matter. It nicely recounts the first discoveries, how they were made, and what they meant at the time. It correctly depicts that our current situation with regard to Pluto is not new at all. The first four asteroids were originally counted as planets until it became obvious that they weren't.
The book, however, seems to take off toward the end as it describes both modern research, what it means for society, and how society has seen (or usually not seen) its value. Some of the stories can send chills down your spine.
"As [Eugene Shoemaker] drove to breakfast one morning [in 1948] he had a realization - humans would reach the Moon in his lifetime. Moreover, he would do what it took to be at the head of the line when that day arrived."
It was a stunning piece of prophecy!
With regard to beginning the possibility of defending ourselves against asteroid impacts - something that had only been accepted as possible in the early 60s spearheaded by the research of Dr. Shoemaker - the book notes that in the mid 1960s we "lacked a details analysis of the technological requirements and the physics of defending against the impact of a large asteroid. It was not until the close approach of 1566 Icarus in 1968 that this was done. The analysis was not a government study, however, but rather a student project."
The impact of Shoemaker-Levy 9 with Jupiter is recounted in detail, as is the intellectual (and amazingly rather recent) intellectual journey that was made toward recognizing craters as impact events rather than artifacts of volcanic activity.
There is also a good and comprehensive chapter on the interesting subject of minor planet names - something that I've had something to do with very recently.
All in all, for someone interested in the subject matter, a recommended book.