SELECT 
  cscart_product_prices.product_id, 
  MIN(
    IF(
      cscart_product_prices.percentage_discount = 0, 
      cscart_product_prices.price, 
      cscart_product_prices.price - (
        cscart_product_prices.price * cscart_product_prices.percentage_discount
      )/ 100
    )
  ) AS price 
FROM 
  cscart_product_prices 
WHERE 
  cscart_product_prices.product_id IN (
    82152, 82121, 82120, 82572, 82433, 82432, 
    82543, 82541, 82540, 82467, 83931, 
    82483, 82434, 81978, 81977, 82361, 
    82230, 82235, 82001, 82000
  ) 
  AND cscart_product_prices.lower_limit = 1 
  AND cscart_product_prices.usergroup_id IN (0, 1) 
GROUP BY 
  cscart_product_prices.product_id

Query time 0.00060

Explain
id select_type table type possible_keys key key_len ref rows Extra
1 SIMPLE cscart_product_prices range usergroup,product_id,lower_limit,usergroup_id usergroup 9 40 Using where

Result

product_id price
81977 1.69000000
81978 1.69000000
82000 1.69000000
82001 1.69000000
82120 1.69000000
82121 1.69000000
82152 1.69000000
82230 1.69000000
82235 1.69000000
82361 1.69000000
82432 1.69000000
82433 1.69000000
82434 1.69000000
82467 1.69000000
82483 1.69000000
82540 1.69000000
82541 1.69000000
82543 1.69000000
82572 1.69000000
83931 1.69000000