Hey, I am playing through mass effect 2 for the second time with a level 30 soldier on the insanity difficulty setting. I am currently at the collector ship and I was wondering if anyone had any advice on who to bring on the mission with shepard. I was thinking mabe miranda and mordin but I am unsure. Any help or advice would be appreciated, thanks.

I finished insanity with a sentinel (new game), and haven't played a soldier yet - that said, Miranda and Mordin are good choices. Miranda is very handy on insanity because of the simple fact that she has both warp and overload; Mordin has incinerate, which works against armor and health, you will need to take down barriers first. Collectors don't use shields. When fighting scions or other tough things order your teammates to camp down somewhere out of the way, then try to get the big guys focused on you. For scions, you can actually just strafe left and right to avoid their attack (which is a lot like shockwave). For praetorians, or whatever those things are called, get them focused on you, find cover but when they get close run all the way across the battlefield and duck in cover, try to keep them in the air and moving so they don't regenerate their barriers. During all of this have your teammates pepper them with powers (and obviously shoot at them yourself as much as possible), but don't order them to focus fire, because they will abandon cover and get killed.

Warp seems to be the single most invaluable biotic in the game. I'd rely on that heavily. 
 
The Praetorians are probably the most dangerous enemy on their lonesome, but there's a bit near the end with two or three Harbingers and a Scion that is excruciating. If you, for some reason, also have Warp as an ability, it'd really help, since you'd be able to double up on that particular ability. If not, then concentrate less on firing off shots and more on whittling down the shields/barriers/armors of your opponents. 
 
Good luck, friend.