There is a way to anchor float strictly to the place where it appears. In Debian you will need to install texlive-latex-recommended (for float.sty).
\usepackage{float}
\restylefloat{figure}
Now you can anchor figure exactly to the place where it appears in the text by using [H] position:
\begin{figure}[H]
\begin{center}
\includegraphics[scale=0.4]{image.png}
\end{center}
\caption{Figure caption}
\end{figure}
float documentation can be find on CTAN:
