I want to say "just do it" also, but have to be a little more careful here because you said "husband" not just daughter. If you want him to travel with you and that's not going to happen, then you have to really look at it and decide if you're willing to take small trips without him. Many do. I am single, but lost a relationship over my traveling, and, while that relationship was very important to me, so was my need/desire to travel. Might I have done anything differently? Maybe, but I have a feeling the result would still have ended up the same. As to your daughter - she needs to let you live your life.
I truly hope your husband comes to understand, but if not, look at ways you might be able to do this without upsetting the apple cart too much

One lady on here bought a small class b to travel alone - now this year her husband decided to join her and they sold that for a Class A - so yes, changes can happen.
Follow your dreams - I hope - even if you have to start slowly. Just don't start too slowly to get them followed.