I believe that one of the greatest limitations in lucid dreaming is the modern clinical view we seem to take with the dream. We neatly partition our nice little concepts; dream characters, unconscious, dream scene. Enough I say! If you believe your dreams to be the accumulated psychic crud of your day with assorted random images then don't be surprised when your lucids are short, vague and confusing. You want to go to the battle of Troy? Believe you are travelling through time and space to get there, don't 'change the dream scene' and interact with 'DCs', actually go there and take part in the event. You may find your experiences much more engaging.