Tibetan dream yoga is the original form of lucid dreaming. It is a philosophical practice created in Tibetan Buddhism at least 1,000 years ago. Just like lucid dreams, the aim of this is to awaken the consciousness in the dream state. However, Buddhist monks have more esoteric goals in mind...
Their aim is to harness the power of the lucid dream state and then complete a number of set tasks to take them to the next level. These tasks include:
- Practice sadhana (a spiritual discipline)
- Receive initiations, empowerments and transmissions
- Visit different places, planes and lokas (worlds)
- Communicate with yidam (an enlightened being)
- Meet with other sentient beings
- Fly and shape shift into other creatures
The ultimate goal in Tibetan dream yoga is to "apprehend the dream" (attain conscious awareness) then dissolve the dream state. When you are deprived of physical stimulus (from the sleeping body) and conceptual stimulus (from the dreaming mind), you can observe the purest form of conscious awareness.
That sounds like an excellent goal for any lucid dreamer.
My favorite book: Dream Yoga: Consciousness, Astral Projection, and the Transformation of the Dream State by Samael Aun Weor (find the book on the right bar of this site)