If I am facing a charge with a mandatory minimum sentence, is there a way to avoid prison?

If at the very end of the day, you are going to be sentenced for such a case, then no, the Judge is required to sentence you to at least the minimum. However, there are ways to potentially avoid a mandatory minimum sentence prior. This is why getting a good defense attorney as soon as possible after you are arrested is critical. There are ways to potentially avoid such sentences at the start of the case and become more difficult as the case progresses.