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Minor moves are usually not considered significant and don't require permission. For example, a move within a city from one neighborhood to another would not be considered significant under most circumstances.
What is considered a "significant" move depends on the given state's law. In some states, a relocation out of the county is significant. In others, it is a specified number of miles (like 50 or 100) away from the noncustodial parent. In other states, only moving out of the state is considered significant.
The law on parental relocation in Kentucky seems to be forever in a state of flux. Here is a good summary of the law: http://louisvilledivorce.typepad.com/info/2008/03/untangling-the.html
Basically, it is up to the Court and if it is a big move, 50 or so miles, you should obtain permission.