I should add, that when I get lucid dreams when I meditate, it's not like I'm in some fantasy world, which is why I say I don't fall asleep. After about twenty minutes, it's like I open my eyes, and I see the room I'm in already, except a cat will walk by or something, and I don't have a cat anymore. I think that's half-way to falling asleep.
You have an end goal in mind, but don't forget that the practice of meditation, in itself, can be its own reward. After meditation, I find I'm still in a trance-like state for about thirty minutes or so, and it's a pretty cool feeling to have that happen while you're interacting with your normal, every day life.