A good full-size air mattress is the closest you can get to sleeping on your bed at home. However, they are bulky, and they usually require an external power source to fully inflate. They are also difficult to clean after a camping trip.
Camping cots are often less comfortable than an air mattress but are more durable, easier to transport, and easier to set up. A high-quality cushioned camping cot can come close to, or even surpass, the comfort of an air mattress, plus they take much less time to set up.