Welcome to RR! I wrote a detailed reply, then lost my connection, so now it's gone. Grrrrr
Anyway, here it is, again: I'd recommend a 570, which has lighthouse capability, and equip it with an AeroVac bin. The AV bin will help when the bot transitions from floor to area rug. The regular vac bin, especially with lots of dog hair, leaves clumps of hair,dust, etc., a/k/a roombarf, on the floor or on the edges of area rugs. The AV bin takes care of that issue, as well as keeping the brushes MUCH cleaner. With LHs, you can schedule Roomba to run, it will navigate from room to room, and then follow the LHs back to home base (HB) to recharge. Without LHs, you will have to manually move Roomba to each room you want cleaned.
I myself have a 581 (purchased from iRobot
as an out of warranty replacement, but not actually sold on their website) with AeroVac and LHs. We have about 3/4 hardwood and 1/4 area rugs. We also have 3 Dobermans and a cat, and I run Roomba daily to maintain clean floors, with regular vacuuming about every 2 weeks with the central vac to get to the places Roomba does not.