If you are good at falling asleep then try going to bed a few hours earlier and getting up a bit later than you usually would. The amount you are in REM increases so much with those few extra hours. Also break it up by waking up after 6 hours, that way your body gets the sleep it needs for its restoration and then any sleep you get after that should have much more dream content. On the nights you sleep longer try taking some vitamin B6.

If you have this ritual of taking B6 when you have longer sleeps, just by keeping a dream journal you will see a pattern emerge of much more detailed and frequent dreams on the said nights. After a few weeks I think it would only be natural for your lucidity to pick up.