best pet upright vacuum cleaner

I've had a Hoover wind tunnel and am sick to death of taking the canister outside to empty in the woods and sweep out the big fluted filter. in the past, I gave this vacuum glowing reviews..well times have changed and after purchasing my Shark Navigator, I see just how much dirt sand and crud this vacuum really left... I've had this vacuum for 2 years, and it's fantastic. It does a great job with pet hair (2 cats), especially when using the Pet Power Paw nozzle. I purchased this vacuum from Amazon two years ago. I purchased it based upon a glowing review in a large Consumer products Reporting magazine. Initially it worked OK.Great at picking up cat and dog hairs. Appreciate the self propelled action on the rug. I bought this vacuum cleaner because I like that it has bags and is supposed to be good with pet hair. This is the first vaccum cleaner I've ever had under $200 actually last longer than a year with my indoor/outdoor great pyrenees. I hate this vacuum, lost suction in less than a year.