The above plan can get expensive to secure a loan unless you have a disability of 20% or more.  

@Tri Quang Le If household is claiming it's a companion animal, then a disability must exist.

But you can (a) ask them what their disability is (if not readily apparent), (b) require a letter from their doctor stating that they are treating them for that disability AND that the ESA is part of the treatment.Or just force them all to use petscreening.com to do the verification for you - free if it turns out to be a valid esa or service animal, if not, they pay the verification fee (and you can then charge security/animal fees and rent).

Other things i have considered are developmentally disabled housing (don't know anything about), veteran housing (know very little), homeless children, special needs (don't know much)...

The Americans with Disabilities Act has zero to do with residential real estate. 

. - careful there, hoarders are a protected class since hoarding was declared a disability a couple of years back.

You just need a retiree, or person receiving disability income, on Section 8, that already lives in "the hood," to live in your rental unit instead and perhaps you have a life long relationship.  

Many live on disability or section 8.

Only two people work in the house me and one of my parents while the other is on disability.

Are they elderly or disabled?