Do you have a crib you could side car with your bed (there was a great thread a couple of days ago with an explination of how to do this.)
Anyway, I have done this with our cribs when the kids were old enough to wiggle and fall out of bed. They'd lie in the crib and I would lay next to it, so if they rolled out of the crib they'd roll into me. That way I didn't need to worry about guardrails.
Just a thought.