Perhaps we'd be in a better place today. We can't know for sure, without first experimenting.
Wealth inequality is a real and growing problem, and I believe is a much bigger impediment to human progress than a basic income would be.
What about the millions of incredibly intelligent minds who could be earning the big bucks on Wall Street, but instead are toiling away 7 days a week in research labs at universities, surviving only off the small budget they're allocated? Are they working to survive, or are they surviving just to work?
What about the millions who would love to further their education, but instead have to work two jobs to support a family?
Personally, I come from a lower income background and would never have had the opportunity to go to university if it wasn't for the generous social support my country has.
Humans are inherently enterprising creatures. Yes, a basic income will enable some to sit around and do nothing. But those people have already found ways to do that, and why should we stop them? The people who truly want to change the world are not going to be impeded by some cash handed to them.