Watch the Concepts in Play online guitar lesson by TrueFire from Play Jazz Guitar 10: Advanced Soloing Approaches
Lesson Source: Larry Carlton's 335 Improv
Let's put these principles in play and blow over a few full choruses to get accustomed to working with chord changes. Throughout this video I'll call out what I'm thinking so that you can better understand my approach when I'm improvising over changes.
You should follow along with the notation for more details, since my improvisation goes by pretty quickly. It's also very useful to just listen a few times around so that you can absorb the sound of, say, a melodic minor scale in use or a brief shift into the blues scale. Remember that all of these "sounds" that we make are the vocabulary we use when crafting our improvisations. The more familiar we are with the vocabulary, and the bigger that vocabulary is, the more fluent and interesting our improvisations become.