I deal with it by planning my journeys, looking out for obstacles, anticipating problems, etc. Basically I break it down into small parts and deal with each one in turn.
I use a walking stick to help with my balance in a practicle sense and also as a visible signal to others that I have a mobility problem.
Also, I take my time. I do not rush, even if I'm running late, I stay calm. Allowing your anxiety to get the better of you only leads to the situation getting worse.