Here is a very practical foot sweep from the guys at Dojo Outfitters:
I’m an ashi-waza (leg technique) guy. They are highly effective, don’t require entangling or overly committing with an opponent. While they have a reputation as being very skill- and and timing-dependent, and so not particularly useful in self defense, it really is no different than teaching layman sweeps from the bottom, or replacing a guard, or various other ground fighting skills, let alone a standing grip game.
For sweeps, such as this harai tsurikomi ashi, smooth surfaces are better, but let’s face it, for most of us our modern lives are spent on smooth surfaces.