In your VM configuration.. make sure the networking is set to Bridged mode.
If your CentOS installation is set up for DHCP (and you have a DHCP server, such as a router), it should obtain an address within the same subnet as your host system.
Alternatively, you can configure a static IP on your CentOS installation that is within the same subnet as your host system. That's how I have my VM's configured.. that way I always know the IP.