Emancipation in Florida

Alright. This is the deal. I'm 17 about to be 18 in April. I can't stand it here. My parents kick me out about a week ago and I was staying with some friends fa a couple days. Then one day when I was at work a police officer came asking for me and then I had to go and talk with him. I wasn't in any trouble but we had to discuss some things because my parents had call the cops, I'm guessing. He sat down and talk to me about certain things and told me I have to go home and speack to my parents and figure out what we wanna do or if I don't go home they would come looking for me and I would get lock up for 72 hours or something like that. So I was like forget that and I went home. We talk the next day. The officer also told me if I can't stand it get emancipated. First, I thought about it. But then i thought things at home would get better. But they still wanna be on my case. I tryed talking to them about things and reasoning. but nothing works. They think they always right and they know everything. I already know the Pursuant to Florida emancipation law. I know already that my parents won't sign anything at all. I need to know if their is anything that I could to further this without them. I already know I have a place to stay (two). I also have a job. I get paid $8 an hour and every two weeks we get our checks. But if my boss knows I'm on my own I will be getting paid at least $9 hour or something like that. I will still be going to school and I have thing already plan out for my future. I know what I wanna do and how I'm going to do it. Can I please have some more advice, thanks.
-Chris

Florida emancipation petitions must be commenced by the minor's parents or legal guardian, or if there is none by a guardian ad litem.

wuts does ad litem mean?

For the purposes of the litigation.

Does that mean I have to have reasons why I wanna be emancipated? I not use to these types of words. Also do I have to have lawyer when I take it to the courts because how could I afford one at my age?

You have parents, so your parents have to petition for your emancipation under Florida law.

So my parents stil have to sign papers? Petition meaning what? I'm sorry im just new to this, I hope your not getting mad.