My middle-class, but well-traveled childhood is a testament to the fact that you don't have to be rich to travel. Although it takes a little extra planning, it's extremely possible to travel on a limited budget. Some locations like Australia are always going to be expensive, but there are a variety of more affordable options like a road trip inside the U.S. or visiting countries like Costa Rica and Cuba. Regardless of where you travel, here are five tips for making your dollar go further.

1. Have a Plan

If you have a limited travel budget, it's important to have a plan and be intentional. Once you find a location that fits your budget, do your research and know what you want to do each day and how much it will cost. Several cities offer a CityPASS which provides discounts on their most iconic sights and activities. Doing your research ahead of time can also uncover discounts for advance ticket purchases or free/discounted admission for specific days of the week.

2. Travel in the Off-season

Most popular destinations have a peak tourist season based on weather or other factors. These peak seasons are not only crowded, they're also more expensive. Hotel prices alone can increase 130% or more during high seasons. For those of us with school-aged kids, school breaks tend to dictate our travel plans. I can speak from experience that schools are understanding when it comes to travel and family vacations if you follow the process for getting it pre-approved. My daughters have missed up to a week of school every year so that we could take an off-season trip or extend long-distance spring break trips. Traveling during shoulder seasons (the time right before and after peak season) is an option for saving a little money, while usually still benefiting from the appeal of peak season.

3. Track Flight Prices

Driving or taking a train will always be a more affordable way to travel than flying, but that's not always possible because of distance or time. For most trips, air fare will be your biggest single expense so knowing when to book your flight to get the best price is critical to sticking to your budget. Online tools like one offered by CheapAir.com tell you the best window of time to book your flight based on your departure and arrival cities. After you have a general idea of when to book, track the price of your flight on CheapAir.com, Google Flights or AirFareWatchDog.com. Prices fluctuate quite a bit and having a baseline price allows you to see when it drops which can save hundreds of dollars. Low cost carriers like Southwest and Frontier aren't included on these sights, so you'll need to comparison shop with them. Weekday flights are also usually cheaper than flying Friday through Sunday.

4. Stay in a Vacation Rental

Our affordable and comfortable two bedroom Airbnb in Shanghai

Vacation rentals offered on HomeAway, Airbnb and VRBO provide lodging options for every budget. Resorts and hotels can be unneccessarily expensive since they cover salaries, amenities, resort fees, etc. Rentals put you in control of your budget and can provide amenities like pool, hot tub, fitness center, kitchen, washer/dryer, etc. Lodging offered on these sites not only saves money, but also gives you conveniences of home and a better sense of what it's like to live like a local in the town or country you're visiting. Nothing provides an authentic experience like clothes hanging to dry above your Airbnb entrance.

5. Eat Where the Locals Eat

I try to support locally-owned shops and restaurants not only in my own town, but also when I travel. Local, off-the beaten-path restaurants are more affordable than ones near popular tourist attractions and they provide another way to get an authentic experience of the location. Finding these local spots may take a little effort, but your bank account will thank you. Travel books like Fodors or blog posts and Yelp are helpful with finding good, local food. I like checking out some popular tourist restaurants to say I've been, but I usually end up enjoying dining with the locals more and save money in the process.