Query to display data from cutom post type

I’m very new to WordPress so I may have my terms mixed up. I’ve registered a custom post type called exhibitors. Within that CPT I have many taxomonies set up (categories).

I have custom template to display the CPT and I’m stuck on the query. So far, I can get all the exhibitors and display them.

new WP_Query( array( ‘post_type’ => ‘exhibitors’, ‘orderby’ => ‘title’, ‘order’ => ‘ASC’, ‘posts_per_page’ => 20 ) );

How do I get at the taxomonies? What I’m looking for is something like this:
EXHIBITORS:

Bakers
-joes bakery
-sallys cupcakes

Flower Shops
-jims roses
-peters pedals

To display I’m using a loop in Geneses:

function exhibitor_loop() {

$loop = new WP_Query( array( ‘post_type’ => ‘exhibitors’, ‘orderby’ => ‘title’, ‘order’ => ‘ASC’, ‘posts_per_page’ => 20 ) ); ?>

<div id=”allexhibitors”>

<h1><?php the_title(); ?></h1>
<?php while ( $loop->have_posts() ) : $loop->the_post(); ?>
” ><?php the_title(); ?></br>

<?php endwhile;?>
</div><!–end #exhibitors –>
<?php
}