Going through customs and airport security with dog?

will they have to touch him?? he is a rescue chihuahua mix who has some issues regarding strangers due to the fact he was badly abused.. i am scared he may go crazy on someone.. he gives lots of warning and has never bitten anyone but i am scared.. he is only comfortable with my family and a couple of my friends and other than that he barks, growls and just goes crazy when someone approaches him.. :s I've brought him to a behaviorist but that didn't help so much. I am flying then driving over the Canadian border its much cheaper considering flights from SFO to my hometown are like $500 and only $186 to Duluth so when i go over the Canadian border will the customs people have to "inspect" boogie? any information is really really appreciated