Can one legally move out without emancipation papers?

I am 16 years old and am a single parent to a 13 month old. I currently live with both my mother and father. But, I want to start attending Faulkner community college next semester. The school is about 2 hr.'s away from home and my parents said that if I can p my ged by november then she would pay for us a apartment and my first 6 months in school and if I can maintain a a and b average then untill i graduate. Now I am wondering if this can be done legally with parental consent but no doentation.