Freezing of gait (FoG) is a common motor symptom in patients with Parkinson's disease (PD). FoG impairs gait initiation and walking and increases fall risk. Intelligent external cueing systems implementing FoG detection algorithms have been developed to help patients recover gait after freezing. However, predicting FoG before its occurrence enables preemptive cueing and may prevent FoG. Such prediction remains challenging given the relative infrequency of freezing compared to non-freezing events. In this study, we investigated the ability of individual and ensemble classifiers to predict FoG. We also studied the effect of the ADAptive SYNthetic (ADASYN) sampling algorithm and classification cost on classifier performance. Eighteen PD patients performed a series of daily walking tasks wearing accelerometers on their ankles, with nine experiencing FoG. The ensemble classifier formed by Support Vector Machines, K-Nearest Neighbors, and Multi-Layer Perceptron using bagging techniques demonstrated highest performance (F1 = 90.7) when synthetic FoG samples were added to the training set and class cost was set as twice that of normal gait. The model identified 97.4% of the events, with 66.7% being predicted. This study demonstrates our algorithm's potential for accurate prediction of gait events and the provision of preventive cueing in spite of limited event frequency.