Fiqh-us-Sunnah Volume 3, Zakaat and Fasting, Fiqh 3.093A.

In the case of beggars forced to ask people for their needs, they should be helped. A person may also ask for help in order to redress another’s need. However, the shari’ah does not approve of begging, except under dire circumstances. Even then, one should not trespass limits.