
Quoting
Dogmatique
The law says you can leave with your daughter.
But Dad can then rush to court in Michigan and you'll (probably) end up having to go to and forth for hearings.
His criminal record isn't really relevant in as much as nothing is recent and you've evidently been allowing standard visitation (it goes like this: Either he's a danger and you're in the wrong for letting him take the child unsupervised, or he's not a danger and therefore it's not something you can really use against him).
Michigan does have a presumption against relocation; if Dad fights you're going to need to convince the court that whatever the other state can offer trumps the ongoing relationship with her other parent.