ABS kicking in?

Within the past month ive noticed the abs system engaging once in a while on the front brakes when I would come to slow rolling stop just before stopping completely now its much more frequent almost every time I come to a stop just before stopping completely it kicks in even though i'm on dry pavement the pads are ok the rotors look fine its kind of hard to describe the sound but i'm pretty sure it has something to do with the abs system the suv stops but right at the end it kind a stutters and whines letting the vehicle keep rolling another foot or two does any one have any ideas why its doing this

In respnse to your answer no the abs light has never come on but the noise that occurs is not grinding more like a vacuum air like sound thebrakes work fine until you come to a stop and then it kicks in just for a few seconds then it stops

Almost every time and not necessarily over bumps it happens even on dry smooth surfaces I will follow your advice and have it looked at and will let you know the results

Hi, I have a 99 GMC Yukon 4x4 109,000 miles with the 5.7 Vortec. When coming to a slow stop and applying the brakes, the ABS seems to kick in right before I stop. If you are moving and slam on the brakes on dry pavement they work fine. In snow when you slam on them the abs seems to work fine. The only time they act up is when you are almost at a stop. The pedal pulsates and feels like the abs kicks in. The brakes are in good shape( rotors, pads, back brakes, and all lines are good and fluid full). The ABS light is not coming on at all. Please help, Thank you.