Is there anyway one could go into the black hill/bad lands area with a permit and not have to follow a trail and camp where ever I want to camp? or is there any place like that?

I'm not sure about the Black Hills, but there is backcountry camping in the Badlands National Park. This National Park Service page gives more details. Backcountry Camping

Google "Black Elk Wilderness". It is between Custer and Rapid City.