Personally, I like stages with platforms against most characters, simply because Lucario doesn't have a hard time sharking opponents.
A stage like Battlefield isn't hard for him to get in some extremely safe f-airs or u-airs, and he can always poke through platforms with u-tilt or up smash, which lead to more pressure. It still depends on the opponent though. I'd take Robin to FD or Smashville any day over Battlefield, simply to prevent Robin from using platforms as cover for Arcfire.
Though if you're willing to use customs, Ride the Wind opens up picking things like Lylat without as much fear, because you can recover on stage and typically, get minimally punished most of the time. It's very easy to fly in unpredictable flight patterns with it, and your opponent has to deal with the lip, while you can usually avoid it completely.
Snaring Aura Sphere is fine on stages that are relatively small too, as it doesn't give your opponent many ways to get away from the snare, and Piercing Aura Sphere does fine on big stages, due to it's sniping potential.