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He'll be an adult under Florida law at age 18. Once he's 18, you can order him out and he has no legal right to enter the home without your permission, and if he does, you can file trespassing charges.
Thus, filing a petition for emancipation may not do you much good here as it would likely take 3-5 months to get a court order from the judge. By then, he'll be 18 anyway. Here's a link that discusses Florida emancipation law: http://www.vclawlib.org/new/research-feb-09/EMANCIPATION20IN20FLORIDA%5B1%5D.pdf
There are no free, state-issued forms out there. You can find forms online (for a price: http://www.uslegalforms.com/fl/FL-EM-001.htm) or hire an attorney to file this for you.