As far as the ancestral property, you must make sure it is ancestral property only, if the property that belonged to your husband's grandfather was partition to his father and after that to his mother, then the property loses its ancestral character, hence your children cannot claim any share in it as a right.
If the situation at home is intolerable then you may decide to file divorce case on the grounds of cruelty.
You can quote the recent incident and the previous such incidences as reasons for cruelty.
For children custody, you can take the children with you, let him file child custody case which you can challenge properly before the court on the basis of merits in your side.
As far as maintenance, you can file a maintenance petition under section 125 cr.p.c. in the same family court and seek maintenance for you and your children, dont worry about his unemployed status, you may mention his income from all other sources in your maintenance petition.
The house in both of your names, shall be a jointly owned property, you have rights for 50% share in it.