That was the first CS I read, and was what convinced me to study Computer Science. There are no prerequisites.

EDIT: When I read that book, I had known Scheme and calculus for several years. I don't recall either of them being required, but (outside view) they might have been. If you don't know how to program at all in any language, you may get lost. But in general that book does a very good job of exposition.

I'd claim that basic programming background, and high school math. Any math in AIMA that goes beyond high school is easily learnable on demand. If you don't know programming things will be difficult.

It would be helpful to be able to program, especially as most of the exercises require it, but it's not neccessary.. A basic grasp of math, particularly logic is also helpful, although the book does introduce them when neccessary.