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 (
    976, 978, 968, 971, 636, 969, 972, 977, 
    1022, 1023, 1106, 1110, 1131, 1142, 
    1157, 1159, 1013, 1105, 1108, 1152, 
    1153, 1154, 1120, 1101
  ) 
  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 0.00047

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "70.21"
    },
    "grouping_operation": {
      "using_filesort": false,
      "table": {
        "table_name": "cscart_product_prices",
        "access_type": "range",
        "possible_keys": [
          "usergroup",
          "product_id",
          "lower_limit",
          "usergroup_id"
        ],
        "key": "product_id",
        "used_key_parts": [
          "product_id"
        ],
        "key_length": "3",
        "rows_examined_per_scan": 33,
        "rows_produced_per_join": 6,
        "filtered": "19.92",
        "index_condition": "(`cscart`.`cscart_product_prices`.`product_id` in (976,978,968,971,636,969,972,977,1022,1023,1106,1110,1131,1142,1157,1159,1013,1105,1108,1152,1153,1154,1120,1101))",
        "cost_info": {
          "read_cost": "68.90",
          "eval_cost": "1.31",
          "prefix_cost": "70.21",
          "data_read_per_join": "157"
        },
        "used_columns": [
          "product_id",
          "price",
          "percentage_discount",
          "lower_limit",
          "usergroup_id"
        ],
        "attached_condition": "((`cscart`.`cscart_product_prices`.`lower_limit` = 1) and (`cscart`.`cscart_product_prices`.`usergroup_id` in (0,1)))"
      }
    }
  }
}