Panic attacks during pregnancy

I am 20 weeks pregnant and have experienced panic attacks before, but it has gotten a lot worse since my pregnancy, I have 2 other children and didnot experience this with them. My doctor has given me xanax a couple of times, but I cannot take it on a regular basis due to my pregnancy, I really feel out of control and scared at what might happen while having an attack. I talk to my husband and my family about my attacks and my problems I am not depressed, they are very understanding when I have an attack, they are right there to take me to the hospital, but they also don’t understand how I am really feeling. I can’t breathe, and my chest hurts and I am really jittery, I really want to relieve this, I have a hard time sleeping at night, thats when the attacks occur, any advice or meds I may take that you are aware of please help me.