Okay so I ran across this technique on the internet and realized I have the resources to try it out tonight.
Basically, rather than a light waking you up like most Lucid Dream aids (sight sensation), the vibration taps into your sensation of touch.
I have a Sonic Bomb alarm clock. It has an attachment that shakes your mattress. The post that I saw mentioned a vibrating wristwatch. I, unfortunately, do not own one. But I think this might actually work better because it will shake my whole body.
I'm going to go to sleep around 11 and set the alarm for 3 am. I'll post the results tomorrow.