Sorry to say the guide you read was probably misinformed if it stated that sleep walking prevented sleep paralysis, if that were the case then sufferers would most likely have nights where they never stopped crashing around their room 
The good news is there are plenty of great guides here on Dreamviews, it's really up to what you think suits you which one you go for (though I would recommend this, WILD - The Guide To End All Guides - Lucid Dreaming - Dream Views, as a good starting point).
As for whether you'll reach SP easily, well that's a different question entirely. My advice would be not to set SP as a milestone to aim for, instead aim for entering a dream, if you get stressed about reaching sleep paralysis you'll be stressed and tensed up and it won't happen.
If you've only had one case of sleep walking in 2011 maybe it was an isolated case? Either way you could see your doctor about the sleep walking and describe what you're trying to do with lucid dreaming?
Good luck with your lucid dreaming journey!
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