You don't have to sleep on the ground if you don't want to when you have have one of these camping cots. Consider camping cots if you're not worried about pack weight (i.e. you're not backpacking) and have enough space in your car (or any other form of transportation) to carry it. Remember though that most camping cots don't provide a soft surface to sleep on so you're still likely to need camping mats to make it bearable to sleep on.
A Selection of Camping Cots