I'm 15 and I think that emancipation is the best thing for me right now, my mom says she doesn't want me here. But she doesn't want to go threw court and everything for my aunt to get custody of me. But is there a way that I don't have to and I can just get emancipated and just move in with my aunt that way?

No. Emancipation isn't what you think it is. Its very hard to get and its not a permanent decision by the courts. It can be revoked.

If its just a matter of you living with a relative then she can sign you to her in a POA so your care can be provided for but it doesn't and will not release her from her parental obligations. Where is your father in all of this? Is your aunt in the same state or a different one then the one you are in now ?

My aunt lives in Michigan, and my Father is dead.

Then your mom can send you to your Aunts to live if she wishs it. The POA (Power Of Attorney) is to allow your aunt to sign things on your behalf. Like register you for school etc. Do you know if your mom is recieveng a ssi benefit on your behalf because your father has passed away?

There are many ways to move in with your aunt, and as noted it is not emancipation. That requires you to be able to live on your own, not with someone.

Yes, she does get SSI

Since she is getting SSi for you then she may or may not wish to give that to your Aunt for your care. That is another thing you will have to discuss with her. Your Aunt also has to be willing to take you in and if she is the one responsible for you she may also want child support from your mom. That is where any kind of move could get sticky unless they agree on it beforehand.