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 (
    10566, 10499, 10474, 10473, 10472, 10471, 
    31948, 10339, 10226, 10064, 10049, 
    8088, 6289, 4064, 3580, 3578, 3577, 
    6278, 6202, 3978
  ) 
  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 0.00062

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
3577 1.69000000
3578 1.69000000
3580 1.69000000
3978 1.69000000
4064 1.69000000
6202 1.69000000
6278 1.69000000
6289 1.69000000
8088 1.69000000
10049 1.69000000
10064 1.69000000
10226 1.69000000
10339 1.69000000
10471 1.69000000
10472 1.69000000
10473 1.69000000
10474 1.69000000
10499 1.69000000
10566 1.69000000
31948 1.69000000