The peace officer may divert the child from the formal court process and take the child to a court-approved center offering voluntary services to children and release the child without formal charges being filed, if:
(1) The offense the child has allegedly committed under the provisions of KRS 610.010(1) is not a felony offense;
(2) The peace officer has received the permission of the parent or other responsible adult; and (3) The peace officer has followed guidelines which the court has established for such release.