What is a quality, affordable vacuum for hardwood floors and area rugs for pet hair & allergies?

My golden retrievers shed a lot, and one suffers from allergies. I need a vacuum that will do a good job of sucking up the dirt, grass and leaf pieces the boys always seem to bring in, long hair (theirs and mine) and the bits of toy stuffing fuzz that stick to my rugs long after a toy is tossed in the trash and I run my current vacuum. A good filter is also key, because of the allergies. I know the Dyson Animal is popular, but I need something under $200. I was going to buy a Shark Navigator NV22L, but read some reviews that indicate the vacuum works well for the first few months, then needs expensive repairs that are not covered under the warranty. It would also be nice if the belt was durable, or easy to replace, as my current vacuum needs to be taken apart and have several screws removed every month or two when the belt breaks.