There is no consensus about the future of the planet.
Some think that an ice age is what we're heading towards, others think that we're just coming out of an ice age, but that the planet is heating up faster than it ever has in recorded history.
The problem is that ice ages wipe out just about all evidence of previous ice ages and the lead up to them, so we can only go on current climate statistics to infer what may happen.
Ice ages are caused by cool summers, not cold winters. If summers are too cool to melt all the snow that falls on a given area, more incoming sunlight is bounced back by the reflective surface, exacerbating the cooling effect and encouraging yet more snow to fall. The consequence is self-perpetuating. As snow accumulates into an ice sheet, the region gets cooler, and more ice accumulates.
I personally think that we are still in an ice age, but that it's a shrunken one. 200,000 years ago, around 30% of the Earth was under ice. Today, 10% still is and a further 14% is in a state of permafrost.
But where we go from here is indeterminable. No scientist will tell you with any degree of certainty that they "know" what will happen to the Earth. Generally, Earth is self-correcting. We are currently in the most stable climatic period in around 200 million years, but we're heading rapidly towards uncertainty.