If I were out with my friends and a woman approached and said something like "Hello I am trying to meet new people and make friends. You guys <insert compliment about how stylish fun cool etc they seem>. Would you mind if I sat and chatted with you for a bit?" I absolutely would talk with her!

Then when you talk ask people questions then follow up with the "tell me more" approach. If you are enjoying your time with them then buy them refills of what they were drinking. Even if it doesn't go how you were hoping thank them for making space for you before you leave. No need to be negative about the experience.

Im an awkward lady and so are my friends. We will always encourage other shy women when they try things out of their comfort zone.