Envision (verb)
To conceive or see something within one’s mind. To imagine.
Envisage (verb)
To conceive or see something within one’s mind; to imagine or envision.
Wiktionary
Envisage (verb)
contemplate or conceive of as a possibility or a desirable future event
“the Rome Treaty envisaged free movement across frontiers”
Envisage (verb)
form a mental picture of (something not yet existing or known)
“he knew what he liked but had difficulty envisaging it”
Oxford Dictionary