My sleep schedule has always been spotty (especially nowadays). I wake up, usually, within a hour of sleeping, and lay awake for around 20-30 minutes, give or take. I usually have strange thoughts that prevent me from sleeping, and when I do sleep, I wake up in panic (for no reason).

Try taking L-theanine (Theanine), it's an over-the-counter, herbal supplement that aids in relaxation. It's non addictive, and has never been seen to cause overdoses (some people take 1000mg a day). That is to say, don't start of with 1000mg, start low, talk with your doctor, and work from there.