Is it okay to leave a house where your parents controll you to the point you cant even go outside? Im 18 btw?

I'm 18 and all my life I've been controlled to a point that I've even wanted to kill myself to escape it. My mom did whatever she wanted when she was in high school and got pregnant at 17 with my eldest brother. Since then she's controlled every aspect of our lives i wasn't allowed to go to the restroom at the mall without her until last year. I can't even go outside if an "adult" isn't with us and by adult i mean my grandparents or her. I've always felt watched and persecuted in my own home. I'm a straight A student with a full ride scholarship. My mother puts me down horrible and after graduating top 5 instead of getting a congratulations my mom yelled at me till i cried when i got off the stage because i didn't find her fast enough. I've always been put down never been to sleepovers stayed out past 7 when i was 18. This past year i got some distance going to the dorms and i felt free but when i returned it was twice as bad. I really want to find a way out. I have a place to stay, a stable job, a good work etiquette but if i leave i know she will just try to drag me back. If there anyway if i leave leaving a note is it okay to leave my parents house without straining this relationship anymore then it already is?