Moses Basket vs Basinet?

I want to try co sleeping with my baby as soon as we take her home, but I want a back up in case I'm too crazy or panicked to feel comfortable doing that. I think I want a Moses basket because they're more portable and I can keep her close. But I worry about her being on the floor! What if we step on her or a pillow knocks off the bed and suffocates her? This is why a basinet sounds like a good option as well. I'm a FTM and would love some advice.