A good start is to stop allowing homeless people to have these encampments. I know this won't permanently fix the issue, but it's a start. In my city, people are allowed to setup tents literally anywhere. Side of a busy street, retail store, parks, etc.
I live in California and the wealthy cities don't have a homeless problem because they don't allow it.
Get an empy field and tell homeless they can setup shop there. All other encampments will be torn down.