It's just like tigers. I am afraid of tigers. But I don't worry about them. I am only afraid of a tiger that is in the room. Until a tiger is in the room with me, my fears and worries are just academic. It is the same thing when you are worried about walking up to a woman. You are worried about things that aren't real. Logically you know that there is no real danger. No one is actually going to shoot you for saying hi.
So now that we know that this fear is something we have learned and that it is actually illogical, how do we defeat it. There are tons of complex psychological tricks and techniques out there, from EFT to hypnosis. I have tried all of them. And in my years as a professional pickup artist I have developed a technique that works the best for me - ritual.