No matter what mantra says, your will and intent are fundamental.
You already make hypnagogia imagery(HI) when you're in alpha state, where you're slightly relaxed. It's not 'can or can't', you naturally produce HI when you're relaxed. 
Relaxing is super important for WILD. If you can't relax, you can't fall asleep, and you'll spend most of the time being awaken and half-asleep, not getting any result, ending up feeling tired.
So learn how to relax and fall asleep first rather than trying to be conscious, although that doesn't mean you can't wild. In order to dream your body needs to fall asleep.
Like Sivason said HI can be awesome. In my experience, it's VERY useful for WILD. Also for dream control in general. When HIs get gradually 'immersed', they become dream. It's equal to dream, but just in different state. The very first stage of HI is seeing colorful tiny star-like objects when you just close your eyes. If you wish to practice, you can make them into simple shapes and colors. The more you're relaxed, the more they become vivid. The question is, will you use it consciously or unconsciously?
Of course it doesnt have to be in only images, it comes with sound, taste, smell, and touch. I find touch the most easiest way to immerse...which is related to OBE or lifting dream body to WILD, but whatever you feel comfortable with, is fine.
The other thing is you can immerse into dream fully with conscious mind only, meaning you can transition into LD without having to visualize or make sound/touch/taste/smell vivid enough. It can be hard at first, but it happened to me for the first wild attempt, so it's definitely possible.
Just know that HI mirrors your thoughts so if you think positive things, HI will be positive. If you think about a ghost it will become a ghost.
And do not force any of this. Play with them. Did you know WILD can happen spontaneously? I guess it happens if you have the intent subconsciously, which is my theory. So don't jump into conclusion right away that it doesn't happen after one time trying this technique or that method. Be patient! The forcing mindset blocks the wheel which is in 'eternal motion'. Lucidity is always in motion. Consciously get in the 'flow', which there's no expectation, only child-like mind, with full of positivity and wonders. Because still, relying on the techniques are like standing on a crutch. Techniques should be tools and if you utilize them well, you'll realize it's more about improvising - some nights you would WILD thru immersing HIs or MILD or using mantra. Like dancing, and you don't 'think' to dance...
No one should tell you what fails. Do not set up limitations by yourself either. Only you know what lucidity is. Tehcniques are worth a try, but the fundamental lies in your consciousness.
Focus on 'maintaining lucidity' rather than trying to 'get' lucid. You are already lucid once you choose to be. Trying to get lucid or LDs is like constantly turning the switch on that is already on.
Every moment is siginificant, and should be 'slow'.
Well now your experience will be the judge... hope this brings some resonance within you
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