You can easily write some code like:
UITabBarItem * item0 = [[UITabBarItem alloc] initWithTitle:@"Page 1"
image:[UIImage imageNamed:@"page1_image_normal"]
selectedImage:[UIImage imageNamed:@"page1_image_selected"]];
[item0 setTag:0];
UITabBarItem * item1 = [[UITabBarItem alloc] initWithTitle:@"Page 2"
image:[UIImage imageNamed:@"page2_image_normal"]
selectedImage:[UIImage imageNamed:@"page2_image_selected"]];
[item1 setTag:1];
UITabBarItem * item2 = [[UITabBarItem alloc] initWithTitle:@"Page 3"
image:[UIImage imageNamed:@"page3_image_normal"]
selectedImage:[UIImage imageNamed:@"page3_image_selected"]];
[item2 setTag:2];
[findModelsTabBar setItems:@[item0, item1, item2]];