The 31-year-old, who arrived from Leeds earlier this summer, has overcome a back problem that kept him out of training earlier this week and is expected to be handed his first start for Town's final pre-season match of their Austria tour against TSV St Johann.
Phil Smith has played both of the previous encounters to date and Lucas' return is set to spark a contest to see who will walk out against Gillingham on the opening day of the season.
Wilson told Swindon's official website: "David Lucas should play if he comes through training again. He has to take the challenge up. In fairness to Phil Smith he has trained and played superbly and there will be a real battle for that shirt now.
"It is not a foregone conclusion as to who plays number one for Swindon Town, they will have to earn the right to play there."
St Johann have replaced original opponents SV Pasching, and Wilson added: "I am not going into the game thinking it's the end of the tour, far from it. I want to finish with a decent win and the boys themselves will be disappointed if they don't do that."