I've had this problem occur intermittently for years with my G4 PB (17in, 1.33) - we've never been able to diagnose it - at all. Sometimes, it's never a problem for months, and other times, like since 10.4.7, it's alot more frequent (several times a day, and the computer's only used a few hrs a day). And the AirPort has been configured to automatically join networks, always, since Nov 2003 (10.2.8 and 10.3).
The fastest way we've determined to re-connect is to go to the menu bar, turn the airport off, and then turn it back on - almost always works, and without having to select the network and enter the security type and password.
I don't have a solution, just thought I'd offer a similar and longstanding experience. (Oh, one other tidbit, the base station station is 15 ft upstairs through the family rm ceiling, and reception is never a problem - always great reception once connected.)
And I hate to say this, my windows laptop for work never has this problem at home. Windows wireless is one of the only redeeming things about windows, other than it never asks me to enter my password - I want to enter the password.