Welcome to the workplace; both the website and the thing in a big office with fluorescent lights.
The first thing to say here is that meeting people like this is inevitable. They just exist. You'll find one in many offices, and there's no way around meeting them. It's all about learning to deal with them.
Secondly, then, make sure you do talk to him. The biggest risk you can take is the where you say "It could in the future pose a problem for me because I don't like asking him for help and find myself procrastinating instead of approaching him". Annoying another colleague can be awkward but not doing your work will get you fired, sooner or later. Your priority is doing your work, not worrying about your social interactions.
So the obvious question: how do you talk to him? Well the first thing to try to do is recognise that he's only human: he might be working under pressure and a bit ratty if asked to do other things, but he's still a human with normal emotions and stresses. He also holds no position of authority over you, other than presumably seniority - which is no real authority at all. So just talk to him. Put your emphasis on keeping things professional, and work out exactly what you want to ask before you ask it. At the same time, work out why you need it.
Your aim should be to enter his office/work area, politely get his attention (waiting a moment if he's busy) then putting forward your request as concisely as possible. If he asks why, explain, but again as briefly as possible while giving all the information. It's about keeping things professional, giving him as little as possible to object to, and ignoring the social aspects.
You may also wish to consider mentioning to him that he seems busy, and would he prefer you to send requests via email? That has the additional bonus of keeping a record of what you've asked for and when, so that if he delays you then you have evidence that it's not due to laziness.
And finally, don't let yourself be intimidated. He's your co-worker, nothing more: he might be a grumpy, busy co-worker, but that's no reason to change anything in your approach other than to try to cut out the chit chat you may incorporate when discussing things with friendlier colleagues.