I have a friend who has this problem, and has been on incapacity benefit for, what, three years now. He too doesn't want to be too far away from home in case he has a panic attack as has happened in the past.
The government do give some counselling sessions but they are limited, as you state, but this is a something that you need to do in order to know yourself better and recognise the danger signs, and how to cope with them, and how to cope with everyday life.
Most people go through some kind of anxiety at some time, but in some of us what we are thinking in the head is acted on very severely by the body - when a would-be burglar appeared at my window the other day I almost fainted thanks to the adrenalin surge. My point is that you need help to recognise the reasoning your mind and body are going through, it is often faulty, and that's where the problem lies.
It is very hard for people without specialist knowledge to help, but the thing is not to try too hard. My friend was and is always the best at guitar, darts, skateboarding because he pushed himself. With the danger of panic attacks you have to go very slowly, and build up a routine I guess.
Oh, and avoid drugs too.
The best advice is to get professional help as soon as possible.