I more or less remember the Collector base selection grouping.
For the infiltration (first) of the Collector Base in ME2, the person you want to survive needs to be a Loyal tech specialist person as SiD said correctly, this means Tali, Kasumi or Legion. I normally send Tali.
The leader of the other team needs to be a "leader" person, so Garrus, Miranda or Jacob. I normally send Garrus.
For Team Mates, any of your choice. But I normally take Kasumi and Legion. Kasumi for her Flashbang ability and Legion to range snipe everything not in range yet.
On rescuing your crew of the Normandy, I typically send Mordin, as typically not ideal in my play (Adept). But memory serves that any of the low defense team mates are ideal to escort the crew back as a good blockade team is needed for the bit after the next.
For the long swarm walk (second) bit, you want to assign a Loyal Biotic for the field, this means Samara (or Morinth) or Jack.
The leader of the other team should again be a leader type, so you're likely to pick again: Garrus, Miranda or Jacod. I normally pick Miranda, but that's due to her being unable to die in this part.
For Team Mates, again, any choice. But once again I prefer Kasumi and Legion.
The more team mates you have standing at the end of that forms a "blockade" to give you time to complete the final fight. Usually not a problem if you have all DLC and did all loyalty missions. The more the merrier.
Finally, bring whoever you need for the final fight. Again, I typically bring Kasumi, but I sometimes alternate Legion over to Jack occasionally depending on my play (Game or Game+).