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A couple of things here:
You can astral travel without being asleep, with the full-on OBE experience, etc, or even skip that bit and describe someone's house to them, though that last one might be more akin to remote viewing.
While sleeping, yes, they are different.
In Dream Awareness, most people's first step to lucid dreaming, you simply become aware you are in a dream. (my own definition, mind you). You don't really control much, just have knowledge. This is pretty cool in itself.
In Lucid Dreaming, you not only aware you are dreaming, but you have complete control. Like daydream on steroids - you can make people appear and basically control your environment.The techniques having you wake up at night then return to sleep are good at producing this sort of thing.
When you Astral Travel during a dream, you are aware of the dreaming or alternative conciousness, but you only have control over yourself in the environment you are in, but you do not have control over the environment around you.
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