Hierarchical Planning based on Abstraction of World Elements and Operators(HiPAWO) is proposed for mobile robots task planning, where abstraction of world elements is used for hierarchical planning and abstraction of operators is used for hierarchical decomposition of abstracted actions. Especially, a hierarchical domain theory based on JAH(Joint of Action Hierarchy)-graph is proposed to improve efficiency of planning, where a number of same actions are included in both adjacent hierarchical levels of domain theories to provide relationships between adjacent hierarchical levels. To show the validities of our proposed HiPAWO, experimental results are illustrated and will be compared with two other classical planning methods.