Fusion ART is an enhanced version of Adaptive Resonance Theory (ART) which is derived from a biologically-plausible theory of human cognitive information processing. Due to its well-established ability of learning associative mappings across multimodal pattern channels in an online and incremental manner, fusion ART has been widely applied in many real world learning problems. In this paper, we take a Fusion Architecture for Learning, Cognition, and Navigation (FALCON) as the specification and essential backbone of fusion ART and introduce an intensity attenuation controller δ for adaptively adjusting the intensity of information captured from the environment, by taking inspiration from Broadbent-Treisman Filter-Attenuation's perceptual model of environmental attention. Particularly, we propose both an adaptive δ detection algorithm as well as a δ-based pruning algorithm to enhance the learning performance of FALCON while reduce the redundant memory storage incurred by the "detrimental δ". To verify the effectiveness and efficiency of our proposed method, comprehensive experimental studies are carried out on a classical minefield navigation task.