Most home network routers include a built-in hardware firewall (NAT-enabled) that monitors and blocks inbound communications at the network level.
By comparison, a PC firewall can monitor and block both inbound and outbound communications at the PC level. For the most complete protection, a PC firewall should be installed on every computer on a network. Combined, a router's firewall and a PC firewall provide multiple layers of protection that a router firewall couldn't provide by itself.
Even if you scan regularly for malware, and practice safe surfing habits, you cannot be entirely sure that your computer will never be infected. There is an old saying in our industry that the only way you can be sure your computer will be clean is to never turn it on in the first place.
Not all commercial software firewalls are resource-consuming.
I have a product suggestion here, if you are looking for a light application, I'd recommend Kerio 2.15:
http://www.321download.com/LastFreeware/page7.html
Good luck, let me know how it goes.