My Dog Hates New People

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I have a pure breed Miniature Australian Shepherd and every time say my parents or people she doesn't know comes over, she cowers in a corner and growls at them. I took her to a shot clinic and she attacked the assistant. I have two kids ages (7 and 3) and she has gone after them too. She's pretty good with me and my husband but I wonder if the people who sold her to us abused her. We got her when she was about two and a half months old and I bought her online from a breeder. I know what you are thinking, I've already thought it myself. We she got off the plane, she was all the way in the back of the cage and would not come out. She was shaking and looked petrified. She warmed up to me and my husband after being with us for two weeks. She was skinny and you could feel every bone in her back. She's not skinny anymore and every time I do take her for walks she is so nervous. She starts shaking and foaming at the mouth and is generally stressed out so I don't like doing that to her. How do I get her to come out of her shell and get comfortable with people if she doesn't even like to leave the yard? She is now two years old and I would love to take her places and let people see the dog that I have grown to love.