sure you can book on the ground, and there are a lot of people doing it in small groups or by them selves or with a guide. I can get some contact numbers/emails of guides out there if you'd like. probably a bit cheaper, but Tanzania is not a cheap country - fuel is the same price as it is in europe, and that makes a lot of things more expensive.
we paid around 1500GBP for ours, booked from UK, on the longer and more interesting Rongai route and includes tents, porters, guides, medical kit and a night either end in a posh local hotel, oh and flight to zanzibar and 3 nights in a nice resort.
Remember it costs about 300USD for the permit to go into the park.
We had a big team (+35 for 12 of us!) but it meant more money in local peoples pockets and the guides take years in college to learn the geography, history and medical side of it all.
a few days mucking about in Moshi or the nearest town of Marangu could easily knock up your costs by a few quid too in the hotels...I reckon Moshi is the place to look as its a big town and lots of hotels, hire shops etc.
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