I don't think enemy campers are the result of any thought. Rather, I think the stand where their leader fell.
Camping invaders are a major annoyance, and my main method of dealing with them is to try to figure out where they'll camp and have a retracting drawbridge drop them into traps.
In my case I have a lot of cage traps, and the campers tend to stand just beyond the furthermost cages in the entrance tunnel, so I have an area with cage traps beneath that which I drop the campers in (and a drawbridge to close the entrance tunnel, so any campers there will get atom smashed or thrown away).
When you're already in the situation, you're basically stuffed. Campers will just stand around until they get bored and leave (if you're lucky it will be the end of the season, but if you're unlucky they'll be there for a year).
If the enemy doesn't have missile troops you might use civilian bait, i.e. get some civilian to take up a job on the other side of the bridge, start to move over it, and then flee when they see the enemy. If you're lucky the enemy will see the bait and try to catch it, and you can then try to time the bridge opening to not sacrifice the bait. There is a significant risk you'll be unlucky and the civilian will see the enemy, but the enemy won't budge.
If you've got sufficient space (more than 10 tiles, I think, to be out of sight), you can set up a ballista at your side of the bridge (a fortification in front of it, preferably several tiles, is good) and then hurl ballista arrows at the enemy. You can use a catapult if you're short of wood, since stone shouldn't be an issue.
Note that siege operator is a civilian job, so the operator will flee when the enemy comes into view, hence the distance. You also want to protect the operator from enemy missiles, which is what the fortification is for.
Edit:
Another approach (need not be exclusive) in case you're if for a one year siege and the campers are in open air, is to build a 12 or so tile high staircase out of sight of the invaders (or the builders will get spooked), then build a floor out to above the enemy. Out there you can either dump rocks on top of them by setting up a dumping zone (stuff dumped at tiles along an edge will fall off the edge), or build a retracting drawbridge on top of which you place mine carts (lead is a good choice) filled with pointy stuff to create dwarven cluster bombs activated when the bridge is retracted. Note that I haven't actually tested that dropped mine carts will spread their contents, though (I know mine carts will spread their contents if they run into a wall at a sufficiently high speed, but that's a horizontal movement. Mine carts dropped down a 100 level chute will retain their contents when the fall came from a track ending at the chute [and the speed wasn't too high]).