[SPARK-17462][MLLIB]use VersionUtils to parse Spark version strings

## What changes were proposed in this pull request?

Several places in MLlib use custom regexes or other approaches to parse Spark versions.
Those should be fixed to use the VersionUtils. This PR replaces custom regexes with
VersionUtils to get Spark version numbers.
## How was this patch tested?

Existing tests.

Signed-off-by: VinceShieh vincent.xieintel.com

Author: VinceShieh <vincent.xie@intel.com>

Closes #15055 from VinceShieh/SPARK-17462.