Looking for a sci fi book that I read while in middle school (early 90's). It is about teenagers growing up on a spaceship. I think that they called the ship mother. Near the end of the book they have to go out on their own and survive without the ship.

Looking for the name of a book I read in the late 80's earliy 90's. It was a young adult book about a teen, he has brown skin, yellow eyes and small horns. He was found on the side of the rode when he was a baby. He was taken to a mansion and made into a servant/slave. Later he escapes into the wilderness to find his own kind... if u have ANY idea please help