some people are just very inward or shy, that might be you, and just because you have anxiety in public, that doesn't make you pathetic. If you are very serious about this you may have something called Agoraphobia. It's not common and most people with it are looked at as pathetic as you said because people can't grasp how hard it is for you to be in public.
I would talk to your parents seriously and tell them you would like to see someone about it to see if your just real anxious or to see if there really is a problem. Either way anxiety is pretty serious also.
I can tell you that it's something you really have to work through, you will eventually be able to stay out more and more but it most likely will rely on routines like you said, every now and then you gotta force yourself to do something spur of the moment, even if it's only for 2 minutes across the street. whatever just throw yourself off and you will notice you will get more comfortable. Most importantly your family has to take you seriously. it's not nothing and it's not pathetic
Let's just say i have had personal experience...hint hint