They're two different things, personally I've been doing more lucid dreaming recently, but I do enjoy astral travel, even if it's just simply floating around my appartment, it's an interesting sensation.
Lucid dreaming is the ability to control your dreams.
Vivid dreaming is when your dreams have a set path, but very memorable in detail. These dreams are generally colorful and can help us determine self problems and future events to come.
Astral travel is knowingly projecting your astral body out of the physical one.
Between astral travel and lucid dreaming i as well prefer lucid dreaming. The trick with breaking free is acknowledging your inside a dream in the first place, once that happens i can control the dream in every detail, but it doesn't end there that is just the tip of the iceberg. Sometimes my dreams are so vivid i am tricked into believing i am living another life, or the same one because everything is detailed and real , but not to be confused with lucid dreaming in that state because one is not in control. I did nothing to help develop these skills i read no books and took no classes, its just something that is natural to me and always has been. Its not something i would even be capable of teaching properly because my mind was wired that way already.