You can use baking soda to remove corrosion from the battery terminals, but what I do instead is buy a spray can of battery terminal cleaner and another of terminal protector from your local Auto Zone(or whatever).
Spray the cleaner on(it turns from yellow to red when it contacts battery acid), scrub the terminals with a wire brush, rinse with clear water, wait for it to dry and then spray the terminals with the protectant.
I usually do this every couple of months when I check the battery water levels.