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It's quite common on these for it to be nothing more than dirty and calcified terminals at the battery, in the first instance I would remove the battery leads, clean both them and the terminals on the battery and see how that works.
I would have an auto centre do a free battery and alternator test in case the alternator is struggling.
If possible, it would be worth checking the earth leads to the body from the battery and removing then reinstalling the fuses and relays in case of any poor connections.
I hope this helps you, if so please rate five stars :)
Use the sandpaper inside the terminals, it's easier than the brillo but either on the terminals.
Some battery terminal grease would be good, failing that Vaseline if on a budget has been believed to help (in places I've been)
I hope this helped, if so please rate five stars :)
It would appear that your alternator is weak and has low output at low revs, as it is working at higher revs (it seems) I would conclude that the control systems from the ecu are working and that it is time to replace the alternator.
Please rate if this helps you :)