Bluetooth is a highly promising low-cost and low-power technology for short-range wireless communication. A Bluetooth ad hoc network can be established by interconnecting piconets into a scatternet. This investigation presents an adaptive scatternet formation scheme (ASFS) for forming a scatternet for Bluetooth devices. The proposed method is designed to calculate the average number of customers in the scatternet in a period. This information then is used to judiciously assign the new arrival to enter an appropriate piconet, and the coordinator preferentially assigns nodes a suitable role to establish links concurrently. Additionally, a maintenance mechanism is defined. Nodes are allowed to arrive and depart arbitrarily, and the proposed method can incrementally extend the topology and dynamically adjust the scatternet to minimize the number of piconets. Experimental results demonstrate that ASFS achieves better channel utilization rate and throughput than other methods.