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In battery-powered portable devices, the most important design goal is maximizing the battery lifetime. This paper proposes a battery-aware task scheduling algorithm with dynamic priority assignment (DPA) to extend battery lifetime. Experiments show that compared with traditional task scheduling algorithms with static priority assignment (SPA), the proposed algorithm efficiently reduces battery cost (by up to 20.23%) and extends battery lifetime. Also, the proposed algorithm reduces complexity by average 37.45% and 4.6% compared with the most classical two SPA-based algorithms.