Iterated function system has been found to be an important method to generate fractal sets. Hilbert space-filling curve is one kind of fractal sets which has been applied widely in digital image processing, such as image encoding, image clustering, image encryption, image storing/retrieving, and pattern recognition. In this paper, we will explore the generation of Hilbert-type space-filling curves via iterated function system based approach systematically. Cooperating a recursive calling of the common Hilbert's original space-filling curve at resolution n-1 and an IFS consisting of four affine transformations, one can generate the vertices for Hilbert-type space-filling curves at any resolution n. The merit is that the recursive algorithm is easy to implement and can be generalized to produce any other Hilbert-type space-filling curves and their variation versions.