You might try a gradual method. Putting the crib next to your bed, and holding his hand through the bars while he falls asleep, then gradually increasing the distance. If moving the crib isn't so easy, you can try something similar in his room. Take it very slow, allowing time for him to adjust to each change.
Some babies can do the Ferber (cry it out) method fairly well by this age, but I never had the heart for it. Still, it may not hurt to try, if you really really need to change this routine. One of my friends who had thought she could never consider such a thing was so exhausted, she gave it a try. With her child, the crying went on for 20 minutes, 1 night. That was IT. I realize that most babies make the process much more heartbreaking for the parent, but it is always possible that you have a baby that is simply ready, just like my friend's proved to be.
Good luck with getting your sleep arrangements to where they suit your family. I know it's really difficult at these ages. And, well, you can always decide it doesn't matter. Your child WILL outgrow it all on his own some day.