Agoraphobia & Social Anxiety Support Group
Agoraphobia is an anxiety disorder, often precipitated by the fear of having a panic attack in a setting from which there is no easy means of escape. As a result, sufferers of agoraphobia may avoid public and/or unfamiliar places. In severe cases, the sufferer may become confined to their home, experiencing difficulty traveling from this "safe place."

You are not worthless. I have lived through the loneliness you are experiencing. Try to find help. Call your local mental health center.
I still have problems going out alone, but I am much better than I was.
There are resources that can help you, too.