Mobile crowdsensing (MCS) has been an emerging sensing paradigm in recent years, which uses a sensing platform for real-time processing to support various services for the Internet of Things (IoT) and promote the development of IoT. As an important component of MCS, how to design task assignment algorithms to cope with the coexistence of multiple concurrent heterogeneous tasks in group-oriented social relationships while satisfying the impact of users’ preferences on heterogeneous multitask assignment and solving the preference matching problem under heterogeneous tasks, is one of the most pressing issues. In this paper, a new algorithm, group-oriented adjustable bidding task assignment (GO-ABTA), is considered to solve the group-oriented bilateral preference-matching problem. First, the initial leaders and their collaborative groups in the social network are selected by group-oriented collaboration, and then the preference assignment of task requesters and users is modeled as a stable preference-matching problem. Then, a tunable bidding task assignment process is completed based on preference matching under budget constraints. Finally, the individual reasonableness, stability, and convergence of the proposed algorithm are demonstrated. The effectiveness of the proposed algorithm and its superiority to other algorithms are verified by simulation results.