SCB Recommendation?

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I'm running navigation and camera on Rhoeby Cerebrum ($99, based on Raspberry Pi).

I have run a rpi3 powered robot using a kinect or a ydlidar with navigation and they works OK add a usb camera and the RPI pegs out at %100 and becomes very slow navigation also fails. My new robot runs 3 RPI's and navigation runs on a desktop computer. I can run navigation on 1 of the RPI's but its not as smooth and on the desktop. I run a mix of Ydlidar, Kinect RPI camera and 5 Arduino's (hence the 3 RPI's)

This recommendation doesn't come from experience using it for ROS, but the beaglebone black should do the trick as long as: A) you're not processing depth cameras B) your application level code on top of the navigation stack is relatively light C) your SLAM problem is small

I'm actually in the middle of a project doing essentially what you're doing for an exercise in embedded robotics computing, that's where I'm starting. There's other single board computers you can buy >$100 which can run full-out Ubuntu on them and those will probably be OK