Autonomous navigation in previously unseen environments requires effective perception, persistent environmental representation, and collision avoidance while maintaining progress toward a goal. Existing perception-based methods often rely on prior maps or short-horizon observations, limiting their ability to exploit previously observed structure. We propose a memory-aware multi-sensor navigation framework that integrates LiDAR and RGB perception, online distance-field representation learning, and a stage-adaptive Modulated Control Barrier Function Quadratic Program (MCBF-QP). The framework persistently represents static infrastructure while tracking dynamic obstacles, enabling the MCBF-QP controller to exploit previously observed geometry for obstacle circumvention and adapt its safety constraints and guidance to local conditions. Experiments in complex indoor and outdoor environments demonstrate improved navigation efficiency and goal-reaching performance while maintaining collision avoidance in narrow passages and around dynamic obstacles.

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