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Ann,
I think you will want to listen to your grandmother on what she wants to do in regard to 'getting out of the house'. What Lisa found with her grandmother is typical (i.e., short outings, a few hours, to familiar places).
Grandparents may not want to be upfront about physical/medical limitations (they often don't want to worry or burden family). Try to be respectful of her wishes.
I am speaking from a decade of experience in geriatric social work.
I imagine your children will benefit greatly from this trip! Hope they get lots of 'stories' and 'family history'.
Susan