I've been lucid dreaming since childhood. Figured out I could do it once when I dreamt that I had found a bag of gold. Knew right then and there that it was bullshit, and realized that I must be dreaming. Ever since then it got easier.
As for astral travel, I've had what I'd call an OBE. It wasn't drug induced, but I know some folks who've had OBEs while on certain drugs. I "awoke", as in I got the sensation that I was conscious, as I was floating up out of my body. I remember looking down upon it and laughing to myself; it was quite amusing to look down upon my sleeping form.
I then willed myself into the stairway, whereupon I got excited at the prospect of the entire thing, and disappointingly stirred myself into a fully wakened state. My inexperience and astonishment cost me.