Low energy consumption has always been one of the core issues in the routing design of underwater sensor networks. Due to the high cost and difficulty of deployment and replacement of current underwater nodes, many underwater applications require the routing protocol design to consider the network lifetime extension problem. Based on this, we designed a new routing protocol that takes into account both low energy consumption and balanced energy consumption, and achieves effective extension of the network lifetime, called adaptive power-controlled depth-based routing protocol for underwater wireless sensor networks (APCDBRP). The protocol consists of two phases: (1) the route establishment phase and (2) the data transmission phase. In the route establishment phase, the initial path is established by the sink node broadcasting beacon packets at the maximum transmission power. The receiving nodes update their routing tables based on the beacon information and forward the beacon packets. In the data transmission phase, APCDBRP introduces a novel forwarding factor that considers both energy efficiency and energy balance. It selects the optimal next hop based on high energy efficiency and relatively abundant energy, thus extending the network’s lifetime. Additionally, APCDBRP proposes a new data protection and route reconstruction mechanism to address issues such as network topology changes due to node mobility and data transmission failures. Our simulation is based on AquaSim–Next Generation, which is a specialized tool built on the NS3 platform for researching underwater networks. Simulation results demonstrate that, compared to other typical routing protocols, APCDBRP exhibits superior performance in reducing network energy consumption and extending the network’s lifetime. It also achieves a high packet delivery rate with lower energy consumption.

The orthogonal time frequency space (OTFS) modulation technique can provide reliable communication in time-varying channels. Due to the dispersive characteristics of underwater acoustic channels, this paper proposes an OTFS-IM underwater acoustic communication system based on Hamming distance optimization to reduce the impact of dispersion in underwater acoustic communication. Firstly, the OTFS-IM underwater acoustic communication system is introduced, which introduces index modulation into the Delay–Doppler (DD) domain to make the OTFS system have stronger anti-Delay–Doppler capability. In contrast, since there is index sequence redundancy in a specific index combination, a Hamming distance optimization model is used to eliminate the redundant combination in the specific index combination sequence and further improve the bit error rate performance of the system. In addition, the Hamming distance optimized OTFS-IM underwater acoustic communication system is verified by simulation analysis. The results show that the proposed Hamming distance optimized OTFS-IM can achieve more reliable bit error rate performance.