I can only think of one company that would think about hiring you off the top of my head. I'll get to that in a bit.
If you have a hard time following instructions and rules, particularly given by other people, you're probably best off as a self-employed inventor. Note that that career pathway doesn't necessarily pay well. It can--Dean Kamen is one example--but for every DK there are many failures. Every company has its rules, policies, and procedures that you'll have to follow.
If you worked on that hard time with instructions, so you could do it, you'd probably do well as a technician. Go to a trade school to learn skills you'd need, maybe some equations, or even take some basic engineering courses like statics and dynamics. (See below.)
Not needing to go to college is going to be a limiter on how high you can go. If you're going into science, math, or engineering, most companies, large or small, won't look at you for work unless you've got at least some sort of college education. Now, some of that can be mitigated by a technician path, but even there you'll need some of the knowledge at least.
Now, the one company I could think of...
IDEO. From what I've heard about that company, you'd probably fit right in. (I assume you're a team player, which would be a big factor...)