I was facing the same issue. It worked fine after setting the value for fs.s3n.impl and adding hadoop-aws dependency.
sc.hadoopConfiguration.set("fs.s3n.awsAccessKeyId", awsAccessKeyId)
sc.hadoopConfiguration.set("fs.s3n.awsSecretAccessKey", awsSecretAccessKey)
sc.hadoopConfiguration.set("fs.s3n.impl", "org.apache.hadoop.fs.s3native.NativeS3FileSystem")