I have a small dog but live in the woods with a large farm pond and she brings the outdoors in with her every day, several times. I have her trained to sit on "her" towel when she gets through the door and I give her a wipe down and she gets a small treat for being a good girl.
Now if I could train my DH to do the same
(wipe his feet and the dog)
I use a Liebman mop that pops into the washer. I have several mop heads and just change them out as needed.
peace