For the ap check this thread out. It has some great advice
http://www.astralpulse.com/forums/welcome_to_astral_projection_experiences/how_i_got_out_for_the_first_time-t30942.0.htmlIn my understanding lucid dreaming is where you realize that you are dreaming, I have heard that you can control the dream, but I do not really know. I have only had one real lucid dream and I only was able to control myself... ^^ hope that makes sense. anyone correct me if I am wrong
here is some dictionary definitions of the two. I cant really explain much myself, but I hope it helps.
astral- of or relating to a supposed nonphysical realm of existence to which various psychic and paranormal phenomena are ascribed, and in which the physical human body is said to have a counterpart.
lucid dream- experienced with the dreamer feeling awake, aware of dreaming, and able to control events consciously.