WBTB or wake back to bed is probably one of the most successful techniques you can try.
First set your alarm clock for about 4-5 hours after you goto sleep.
Then goto sleep as normal
Once your alarm clock has awoken you, stay up for about 30mins-1hour and try as hard as you can on focusing your mind on lucid dreaming.
Fall back asleep
This technique will be more efficent once you have practiced this technique a bit.