Abstract: Existing collaborative task assignment methodologies inadequately account for the work mode of participating nodes and the communication capabilities of inter-node links, resulting in diminished node resource utilization and lower task scheduling success rate. To address these issues, a multi-priority task multi-node assignment algorithm based on network topology and preference ordering is proposed. This algorithm models the problem of assigning multiple tasks to multiple nodes as an optimization problem aimed at maximizing task execution benefits and maximizing the participating nodes number. A heuristic method is then proposed to solve this optimization problem. Initially, the heuristic method assigns the minimum number of nodes to each task to maximize the number of successfully assigned tasks. Subsequently, it expands the node set for each task to maximize the number of participating nodes. The simulation results show that a task assignment success rate of 80% can be achieved with just six nodes in scenarios with abundant bandwidth resources. This indicates that the proposed multi-priority task multi-node assignment algorithm has obtained a locally optimal solution under constraints such as node work mode and inter-node link capacities.