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Participatory crowdsensing (PCS) is an innovative data sensing paradigm that leverages the sensors carried in mobile devices to collect large-scale environmental information and personal behavioral data with the user’s participation. In PCS, task assignment and path planning pose complex challenges. Previous studies have only focused on the assignment of individual tasks, neglecting or overlooking the associations between tasks. In practice, users often tend to execute similar tasks when choosing assignments. Additionally, users frequently engage in tasks that do not match their abilities, leading to poor task quality or resource wastage. This paper introduces a multi-task assignment and path-planning problem (MTAPP), which defines utility as the ratio of a user’s profit to the time spent on task execution. The optimization goal of MATPP is to maximize the utility of all users in the context of task assignment, allocate a set of task locations to a group of workers, and generate execution paths. To solve the MATPP, this study proposes a grade-matching degree and similarity-based mechanism (GSBM) in which the grade-matching degree determines the user’s income. It also establishes a mathematical model, based on similarity, to investigate the impact of task similarity on user task completion. Finally, an improved ant colony optimization (IACO) algorithm, combining the ant colony and greedy algorithms, is employed to maximize total utility. The simulation results demonstrate its superior performance in terms of task coverage, average task completion rate, user profits, and task assignment rationality compared to other algorithms. Full article