According to this question on Super User site, CentOS sanitizes the enviromnent to a sane default.
That's why some commands won't work with `sudo`.
Looks like you should check in `/etc/sudoers` (edit it with `visudo` !!) for these options:
Defaults env_reset
Defaults env_keep += "SOME_VARIABLE_NAME" # There should be one or more of these
This line:
Defaults secure_path = "some path"
specifically overrides your user's `$PATH` with a predetermined one which evidently differs from what you're expecting.
You might want to modify `secure_path` to your needs, or just comment the whole line if you feel your standard user's `$PATH` should be used even with `sudo [command]`.