THE SINGULARITY TRAP by Dennis Taylor.
Here is the description from Amazon:
The number one best-selling author of the Bobiverse trilogy returns with a space thriller that poses a provocative question: Does our true destiny lie in ourselves — or in the stars?
If it were up to one man and one man alone to protect the entire human race - would you want it to be a down-on-his luck asteroid miner?
When Ivan Pritchard signs on as a newbie aboard the Mad Astra, it's his final, desperate stab at giving his wife and children the life they deserve. He can survive the hazing of his crewmates, and how many times, really, can near-zero g make you vomit? But there's another challenge looming out there, in the farthest reaches of human exploration, that will test every man, woman and AI on the ship - and will force Ivan to confront the very essence of what makes him human.
--I really enjoyed this book! Recommended!