My question involves emancipation laws for the State of: Pennsylvania.

I am 16 years old and I have a year and three months until I turn 18. The house that I live in is not very suitable to live in. We have 3 bedrooms and during the week we have generally 7 people living in our house that is considered a double wide trailer with a basement. I have had a job at subway for 8 months and make around $600 dollars a month. My parental guardians also get $600 dollars a month from S.S. for my dad dying when I was younger, and them taking care of me. There are multiple people that said that they would let me move in with them if I paid $300 dollars rent a month which I obviously have. Anyway, there are two livingrooms here. I sleep on one couch or the other depending on where my brother is sleeping and if my sister is in the basement. I barely can get sleep at night from the babies that live here.They consider our "rooms" as plywood keeping us apart in a damp, moldy, spider and mouse infested basement. My mother is in my life but I dont think she is ready to take me back into her life because she just got married, I am living with two parental guardians. One of them has a job at a vets office but barely gets a paycheck because of all the animals that they own. The other one just sits at home all day doing nothing. What should I do and how should I do it?