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In oder to move away, you may need to file a petition for a move away order and a petition for visitation. This will allow you to relocate and establish a visitation order for the father. In your moving papers you may want to explain why the move is desire and the effect it will have on your child. You will also want to assure the court that it is not your intention to alienate the father from his child. (This is where you will lay out the visitation schedule). You will have your ex served with a copy of the papers, to which he will be entitled to respond. At a hearing, where both of your are present, a judge will listen to your arguments and evidence, and make a ruling that is in the best interests of the child.
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Of course you can avoid court if you agree upon the situation. Just as you have the right to file an action for custody and visitation, he has the same right. It is unlikely that a judge would change the entire custody arrangement over a 20 mile move, however, he does have the right to ask for it.