I really need some Legal Advice, please?

I'm currently living with both my father, and my grandmother. My dad is threatening to move me and my sisters away because him and my grandmother dont have the best relationship. This is a major problem because my house is a duplex (though we own the whole house) so I live with my grandma in the downstairs apartment, and my father lives upstairs with my 2 sisters. I cannot even imagine moving, especially since I am halfway through Highschool. BUT! I cannot emancipate my self because I'm only 15. Is there any way I can live with my grandma (and possibly get adopted) , but not have my father call the police and file kidnapping charges? or is there any legal way I could move in with my grandma?