Hello Minyan,

In Astral Dynamics, Robert states that you can convert a lucid dream into an astral projection by either commanding "take me back to my body!" in the dream or by falling backwards in the dream. He says this will land you either close to your body or in the projected double floating right above your body, in which case you can then get up and take it from there.

Similarly, I was just listening to a youtube video yesterday posted by Astral Club (it's run by a guy who has been projecting since he was a kid) and he also says that he has used a lucid dream to AP by jumping off a cliff or somewhere high and far from the ground. He has good content in my opinion so you might want to check him out and see if it interests you.

Good luck!