In order to balance the cruise speed and performance of obstacle avoidance for mobile robots controlled by membrane controller, an adaptive cruise speed obstacle avoidance method based on enzymatic numerical P systems (ENPS) is proposed. The method adopts the enzymatic numerical P systems and uses membranes to fuse multiple sensors' distance values. The cruise speed is adjusted by the sensors' fusion value. Moreover, the method helps mobile robots avoiding obstacles effectively and keeps a high robot speed when there is no obstacle. Both the simulation and practical experiments on robot Pioneer 3-DX show that the enzymatic numerical membrane controller designed by the proposed method is feasible, and the effect of the controller is better.