Here in Oregon I've heard/seen raccoons make low, repetitive grunting noises when they're interested in something. For example, my mother got a new compost bin (which was, naturally, directly outside my bedroom window) quite a number of years ago, and I woke up to low (in pitch and in volume) grunting. Upon looking outside, I discovered raccoons trying to get in. I guess they smelled the watermelon rinds or whatever was in there and thought there could be a snack.
I'd just grab a flashlight next time the noise presents itself. Unless you have bears or cougars in your area, there's really nothing that wouldn't be scared off by a person screaming and waving their arms with a flashlight, in case it does charge. Though I've heard that moose do make that noise too.