Migrating from Income Support to ESA

I have been on Income Support with an illness premium for several years. I have this week received a letter with an ESA form ESA50 01/13 saying I will be 'converted' to ESA. The last time I was put through this excruciating process I was obliged to attend an 'examination' following my submission of my form.
I suffer from a mental illness, or rather several as I understand it and one of the worst things about this process is having to attend for this 'examination'. I rarely go out of the house and if I do I am accompanied at all times by my long suffering partner. If I do go out I cannot stay out in public for very long before I have a severe panic attack.
I have steeled myself for a visit to my GP to ask for their help with this process, and to ask for a letter detailing my condition. I am unbelievably stressed over this as being found 'fit for work' I feel sure would trigger a major relapse for me and I might not recover again.
I am going to follow the guide as closely as I can with help from my partner. I wanted to know if anyone has explored the possibility of withholding consent to be 'examined' by an ATOS employee that is not qualified to assess someone with a mental illness? I saw a Youtube video of someone who had covertly recorded their encounter with ATOS and the repeated attempts of the ATOS person to get them to consent, which, following a lengthy question and answer process, they refused to do on the grounds that the 'examiner' was not qualified to assess them.
I am already paranoid beyond reason. If I have no faith in the 'examiner' I will not be able to speak to them, never mind engage in any for of dialogue concerning what is wrong with me. The stress of having to attend might be enough to bring on another nervous breakdown.
All of this comes on top of already feeling hunted and unworthy following the government's despicable propaganda war against people like me. Any advice you could give will be greatly appreciated. Thank you

To add to Gordon's excellent advice, don't forget that it is possible to be awarded ESA without a face2face assessment. Your best chance of achieving this is to fill in the forms fully, using our guides, and to send in as much supporting evidence as possible.

An update. I have been to see my GP. I asked her for a letter concerning my condition as I was worried that I don't have enough 'evidence' to accompany my ESA50 form. My GP told me that she feels a letter at the form stage was useless and unnecessary, and that she would write one if/when I am obliged to appeal, at which point she felt it would be effective.
She did, however, issue me with a sick (or is that 'fit'?) note for two months. I have never had a sick note before.
Should I send the sick note in with my ESA50 form? My GP seemed to think the sick note would halt the assessment process and help me by reducing my stress, albeit for a short period. Is this actually the case? (The halting the process, not the reduction in stress!)
She is also referring me for CBT and has said I need to come to terms with the knowledge that my condition may well be with me for life. It's been a stressful time recently.
Thank you for your help and advice.
Dale

I have another question if I may. I am struggling with the form they have sent me and I have recently become aware of an online version I may be able to type in (if I'm on a good day). I would like to ask if there is any difference between the perception of a handwritten form as opposed to a typed one (in terms of capability etc.)?
My handwriting varies between legible and illegible depending on my stress levels and condition day to day. On a bad day I cannot write at all. In fact I can't really do anything.
I have now been referred to a Consultant Psychiatrist with my local Mental Health Team, I am currently waiting for an appointment.
Thank you for your assistance.